CN105529778A - Underwater wireless charging device of robot fish - Google Patents
Underwater wireless charging device of robot fish Download PDFInfo
- Publication number
- CN105529778A CN105529778A CN201610063323.4A CN201610063323A CN105529778A CN 105529778 A CN105529778 A CN 105529778A CN 201610063323 A CN201610063323 A CN 201610063323A CN 105529778 A CN105529778 A CN 105529778A
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- China
- Prior art keywords
- wireless charging
- funnel
- machine fish
- plate body
- form housing
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 94
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 42
- 238000007789 sealing Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 230000005674 electromagnetic induction Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000284 resting effect Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- H02J5/005—
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- H02J7/025—
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- Mechanical Means For Catching Fish (AREA)
Abstract
The invention discloses an underwater wireless charging device of a robot fish, comprising a charging bracket, a control device and a separating device; a fixing frame comprises a plate body arranged at the upper end of a connecting rod and a funnel-shaped shell body hinged on the plate body; the inner wall of the funnel-shaped shell body matches with the head outline of the robot fish; a wireless changing sending end device is arranged on the plat body in a waterproof mode; the wireless changing sending end device comprises a wireless charging sending module and a charging coil; the separating device comprises a water pump; the water outlet end of the water pump is communicated with the conical part of the funnel-shaped shell body through a guide pipe; the water pump and the control device are electrically connected. When the robot fish enters the wireless charging device for being charged, the head of the robot fish matches with the inner wall of the funnel-shaped shell body; the battery is charged by using the electromagnetic induction principle between the charging coil and a receiving coil; after charging is finished, the control device starts the water pump; the high pressure water passing through the water pump impacts the head of the robot fish through the guide pipe; therefore, the robot fish is separated from the underwater wireless charging device.
Description
Technical field
The invention belongs to underwater robot location and wireless charging technical field, be specifically related to a kind of machine fish underwater wireless charging device.
Background technology
In recent years due to the growth of population, cause the destruction of natural environment more and more serious, land resources be also becoming tight by day.And rich in natural resources is contained in ocean, it to be protected and exploitation is future development main trend.The country of some advanced technology has increased the input to ocean development now, and will realize having become the popular domain of research to the development and utilization underwater robot of marine resources.
The autonomous robot under water found out at present is all much utilize battery to power, the drawback utilizing powered battery to exist is that underwater robot someone must carry out real-time detection and know the electricity that robot is current, to reclaim robot when robot electric quantity is not enough, and it is charged.This not only wants the manpower and financial resources of at substantial, also there is certain risk, if reclaimed because the carelessness of operating personnel is not timely the robot that electricity exhausts, may cause the lost contact of robot, loss is serious.Secondly present charging to underwater robot is generally utilize the battery charging contacts exposed, and this design makes the outward appearance of robot succinct not.And the water joint exposed is along with the increase of access times, the possibility of leaking increases, once water joint leaks will cause robot interior short circuit; Secondly, after the degree of depth of robot dive increases, the possibility of water joint generation seepage also increases, and also can cause the short circuit of robot interior.And adopt underwater wireless charging device to carry out wireless charging to machine fish, how to make machine fish automatically accurate and charging device locate, and after charging terminates, automatically disengage charging device be a problem demanding prompt solution.
Summary of the invention
The object of the present invention is to provide a kind of machine fish underwater wireless charging device, solving machine fish and water in prior art can not the technical problem of wireless charging under water.
In order to solve this technical problem, the present invention adopts following technical scheme:
A kind of machine fish underwater wireless charging device, for carrying out wireless charging to machine fish in water, comprise charging bracket, control device and release unit, described charging bracket comprises base, connecting rod, fixed mount, connecting rod is arranged between base and fixed mount, lower end and the base of connecting rod are connected, and connecting rod upper end is connected with fixed mount, and charging bracket is fixed in water by base.Described fixed mount comprises the plate body being arranged on connecting rod upper end and the funnel-form housing be arranged on plate body, and the inwall of funnel-form housing can suit mutually with the head of machine fish; On plate body, sealing is provided with wireless charging transmitting end device, and wireless charging transmitting end device comprises wireless charging transmitter module, charge coil, and the tapering near funnel-form housing on plate body is provided with boss.Described control device sealing is arranged on charging bracket, and control device also comprises detection module, and described wireless charging transmitting end device is electrically connected with between control device, and control device is connected with external power source by submerged cable.Described release unit comprises water pump, and the water side of described water pump is communicated with by the tapering of conduit with funnel-form housing, and described water pump is electrically connected with between control device.
The bottom of machine fish fish head of the present invention is provided with receiving end device and the rechargeable battery of wireless charging module, and the receiving end device of wireless charging module is electrically connected with between rechargeable battery; Receiving end device comprises receiving coil, wireless charging receiver module and receiving terminal waterproof case, and described receiving terminal waterproof case is fixed on the bottom of fish head, and receiving coil is sealingly fastened in receiving terminal waterproof case end.The head of machine fish is also provided with proximity switch.
The charging process of machine fish is as follows: when machine fish electricity lower than 10% time, machine fish stops operation and swims and carries out wireless charging to wireless charging device place, machine fish enters underwater wireless charging device from the openend of funnel-form housing, and the head of machine fish suits mutually with the inwall of funnel-form housing, the wireless charging receiver module of machine fish is corresponding with wireless charging transmitting end device position.Now, the proximity switch of machine fish head is less than the distance of reaction of proximity switch to the distance of funnel-form housing tapering boss, then proximity switch signal transmission is to the control unit of machine fish, this control unit sends instruction makes machine fish be in resting state, ensures that machine fish can charge in stable state.Utilize the electromagnetic induction principle in road between charge coil and receiving coil to charge to battery, charge coil is coupled with receiving coil, and its gap namely can wireless charging within 5mm, and the efficiency of the less charging of spacing between certain two coils is higher.After machine fish charging terminates, detection module sends signal to control device, water pump opened by control device, the water under high pressure of water pump impacts the head of machine fish through conduit, machine fish is made to depart from underwater wireless charging device, when the proximity switch of machine fish head is greater than the distance of reaction of proximity switch to the distance of funnel-form housing tapering boss, proximity switch signal transmission is to the control unit of machine fish, and this control unit sends instruction makes machine fish in running order.
Further improvement, described funnel-form housing hinge, on plate body, plate body is provided with limiting stand, and the angle of funnel-form housing into rotation is 1-30 degree.Machine fish, when funnel-form housing, is also in travelling state, has certain impulsive force, when machine fish and funnel-form inner walls collide, funnel-form housing around corner connection place slightly to front rotation, can play cushioning effect, prevents collision transition fierce and damages machine fish; By being provided with limiting stand on plate body, the angle making funnel-form housing into rotation is 1-30 degree, and when preventing machine fish from colliding funnel-form housing, funnel-form housing overturns.
Further improvement, described funnel-form housing is rotationally connected by torsion spring and plate body.Machine fish is in zero-g state in water, need external force to adopt and can change its motion state, because torsion spring is apart from there being larger restoring force, ensure that machine fish is after colliding with funnel-form housing, at torsion spring apart under restoring force effect, to machine fish active force during the revolution of funnel-form housing, reach the object of secondary adjustment machine fish position, ensure that the receiving coil of machine fish is accurately coupled with charge coil.
Further improvement, described plate body is obliquely installed, there is angle in its upper surface and horizontal plane, funnel-form housing is arranged on the lower one end of plate body, being beneficial to machine fish enters in the funnel-form housing of underwater wireless charging device, and machine fish and funnel-form housing offset in charging process, prevent machine fish from charging process, departing from underwater wireless charging device.
Further improvement, the upper surface of described plate body and the angle of horizontal plane are 1-89 degree.
Further improvement, the tapering inwall of described funnel-form housing is provided with annular rubber ring, play cushioning effect by arranging rubber ring, when preventing machine fish from entering in underwater wireless charging device and funnel-form housing collide and damage machine fish or wireless charging device.
Compared with prior art, the present invention has following beneficial effect:
1, machine fish underwater wireless charging device of the present invention, comprise charging bracket, control device and release unit, when the electricity of machine fish is not enough, machine fish trip carries out wireless charging to wireless charging device place, the head of machine fish can suit mutually with the inwall of funnel-form housing, utilizes the electromagnetic induction principle in road between charge coil and receiving coil to charge to battery; After charging terminates, water pump opened by control device, and the water under high pressure through water pump impacts the head of machine fish through conduit, and make machine fish depart from underwater wireless charging device, accurate positioning, automaticity is high.
2, machine fish underwater wireless charging device of the present invention, funnel-form housing is rotationally connected by torsion spring and plate body, machine fish is after colliding with funnel-form housing, at torsion spring apart under restoring force effect, to machine fish active force during the revolution of funnel-form housing, reach the object of secondary adjustment machine fish position, ensure that the receiving coil of machine fish is accurately coupled with charge coil.
3, by being obliquely installed plate body, there is angle in its upper surface and horizontal plane, funnel-form housing is arranged on the lower one end of plate body, being beneficial to machine fish enters in the funnel-form housing of underwater wireless charging device, and machine fish and funnel-form housing offset in charging process, prevent machine fish from charging process, departing from underwater wireless charging device.
Accompanying drawing explanation
Fig. 1 be machine fish of the present invention under water wireless charging time structural representation.
Fig. 2 is the structural representation inventing described charging bracket.
Embodiment
For making object of the present invention and technical scheme clearly, below in conjunction with the embodiment of the present invention, technical scheme of the present invention is clearly and completely described.
A kind of machine fish underwater wireless charging device of the present invention, comprises the technical characteristics such as plate body 1, connecting rod 2, base 3, funnel-form housing 4, water pump 5, machine fish 6, charge coil 7, boss 8.
As Fig. 1, shown in 2, a kind of machine fish underwater wireless charging device, comprise charging bracket, control device and release unit, described charging bracket comprises base, connecting rod, fixed mount, lower end and the base of connecting rod are connected, connecting rod upper end is connected with fixed mount, described charging bracket is fixed under water by base, fixed mount comprises the plate body being arranged on connecting rod upper end and the funnel-form housing be hinged on by torsion spring on plate body, the tapering inwall of funnel-form housing is provided with annular rubber ring, plate body is obliquely installed, the angle of its upper surface and horizontal plane is 10 degree, the inwall of funnel-form housing suits mutually with the contouring head of machine fish, and funnel-form housing is arranged on the lower one end of plate body, on plate body, sealing is provided with wireless charging transmitting end device, and wireless charging transmitting end device comprises wireless charging transmitter module, charge coil, and the tapering near funnel-form housing on plate body is provided with boss.Described control device waterproof sealing is arranged on charging bracket, and control device also comprises detection module, and described wireless charging transmitting end device is all electrically connected with between control device, and control device is connected with external power source by submerged cable.Described release unit comprises water pump, and the water side of described water pump is communicated with by the tapering of conduit with funnel-form housing, and described water pump is electrically connected with between control device.
The bottom of machine fish fish head of the present invention is provided with receiving end device and the rechargeable battery of wireless charging module, and the receiving end device of wireless charging module is electrically connected with between rechargeable battery; Receiving end device comprises receiving coil, wireless charging receiver module and receiving terminal waterproof case, and described receiving terminal waterproof case is fixed on the bottom of fish head, and receiving coil is sealingly fastened in receiving terminal waterproof case end.The head of machine fish is also provided with proximity switch.
The charging process of machine fish is as follows: when machine fish electricity lower than 10% time, machine fish stops operation and swims and carries out wireless charging to wireless charging device place.When machine fish enters in underwater wireless charging device, the head of machine fish suits mutually with the inwall of funnel-form housing, and the wireless charging receiver module of machine fish is corresponding with wireless charging transmitting end device position.Now, the proximity switch of machine fish head is less than the distance of reaction of proximity switch to the distance of funnel-form housing tapering boss, then proximity switch signal transmission is to the control unit of machine fish, this control unit sends instruction makes machine fish be in resting state, ensures that machine fish can charge in stable state.Utilize the electromagnetic induction principle in road between charge coil and receiving coil to charge to battery, charge coil is coupled with receiving coil, and its gap namely can wireless charging within 5mm, and the efficiency of the less charging of spacing between certain two coils is higher.After machine fish charging terminates, detection module sends signal to control device, water pump opened by control device, the water under high pressure of water pump impacts the head of machine fish through conduit, machine fish is made to depart from underwater wireless charging device, when the proximity switch of machine fish head is greater than the distance of reaction of proximity switch to the distance of funnel-form housing tapering boss, proximity switch signal transmission is to the control unit of machine fish, and this control unit sends instruction makes machine fish in running order.
Do not do in the present invention illustrate be prior art or can be realized by prior art, and described in the present invention, concrete case study on implementation is only better case study on implementation of the present invention, is not used for limiting practical range of the present invention.Namely all equivalences done according to the content of the present patent application the scope of the claims change and modify, all should as technology category of the present invention.
Claims (5)
1. a machine fish underwater wireless charging device, for carrying out wireless charging to machine fish in water, is characterized in that, comprising:
Charging bracket, comprises base, connecting rod, fixed mount, and connecting rod is arranged between base and fixed mount, and charging bracket is fixed in water by base; Described fixed mount comprises the plate body being arranged on connecting rod upper end and the funnel-form housing be arranged on plate body, and the inwall of funnel-form housing can suit mutually with the head of machine fish; On plate body, sealing is provided with wireless charging transmitting end device, and wireless charging transmitting end device comprises wireless charging transmitter module and charge coil;
Control device, described control device sealing is arranged on charging bracket, and control device comprises detection module, and described wireless charging transmitting end device is electrically connected with between control device, and control device is connected with external power source by submerged cable;
Release unit, described release unit comprises water pump and conduit, and the water side of water pump is communicated with by the tapering of conduit with funnel-form housing, and described water pump is electrically connected with between control device.
2. machine fish underwater wireless charging device according to claim 1, is characterized in that, described funnel-form housing hinge, on plate body, plate body is provided with limiting stand, and the angle of funnel-form housing into rotation is 1-30 degree.
3. machine fish underwater wireless charging device according to claim 2, is characterized in that, described funnel-form housing is rotationally connected by torsion spring and plate body.
4. the machine fish underwater wireless charging device according to any one of claim 1-3, it is characterized in that, described plate body is obliquely installed, and its upper surface and horizontal plane exist angle, and funnel-form housing is arranged on the relatively low one end of plate body.
5. machine fish underwater wireless charging device according to claim 4, is characterized in that, the upper surface of described plate body and the angle of horizontal plane are 1-89 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610063323.4A CN105529778A (en) | 2016-01-31 | 2016-01-31 | Underwater wireless charging device of robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610063323.4A CN105529778A (en) | 2016-01-31 | 2016-01-31 | Underwater wireless charging device of robot fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105529778A true CN105529778A (en) | 2016-04-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610063323.4A Withdrawn CN105529778A (en) | 2016-01-31 | 2016-01-31 | Underwater wireless charging device of robot fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105529778A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107919731A (en) * | 2016-10-06 | 2018-04-17 | 富士施乐株式会社 | Underwater moving body |
| CN108557039A (en) * | 2018-03-09 | 2018-09-21 | 哈尔滨工业大学深圳研究生院 | Underwater wireless charging robot, underwater wireless charging method and system |
| CN109038838A (en) * | 2018-08-10 | 2018-12-18 | 山东建筑大学 | A kind of wireless charging system and method for machine fish |
| CN111313564A (en) * | 2020-02-18 | 2020-06-19 | 湖南大学 | Wireless power transmission system of underwater unmanned underwater vehicle and control method |
| CN113644976A (en) * | 2021-09-09 | 2021-11-12 | 重庆前卫科技集团有限公司 | Underwater visible light communication system |
-
2016
- 2016-01-31 CN CN201610063323.4A patent/CN105529778A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107919731A (en) * | 2016-10-06 | 2018-04-17 | 富士施乐株式会社 | Underwater moving body |
| CN107919731B (en) * | 2016-10-06 | 2023-05-02 | 富士胶片商业创新有限公司 | Underwater moving body |
| CN108557039A (en) * | 2018-03-09 | 2018-09-21 | 哈尔滨工业大学深圳研究生院 | Underwater wireless charging robot, underwater wireless charging method and system |
| CN109038838A (en) * | 2018-08-10 | 2018-12-18 | 山东建筑大学 | A kind of wireless charging system and method for machine fish |
| CN109038838B (en) * | 2018-08-10 | 2020-08-07 | 山东建筑大学 | Wireless charging system and method for robot fish |
| CN111313564A (en) * | 2020-02-18 | 2020-06-19 | 湖南大学 | Wireless power transmission system of underwater unmanned underwater vehicle and control method |
| CN111313564B (en) * | 2020-02-18 | 2023-05-16 | 湖南大学 | Wireless power transmission system of underwater unmanned underwater vehicle and control method |
| CN113644976A (en) * | 2021-09-09 | 2021-11-12 | 重庆前卫科技集团有限公司 | Underwater visible light communication system |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 01, 210019 floor, Metro science and technology building, 69 Olympic Sports Avenue, Jianye District, Jiangsu, Nanjing, 4 Applicant after: NANJING LEPENG ELECTRONIC TECHNOLOGY CO., LTD. Address before: 210006 Jiangning Road 5, Qinhuai District, Jiangsu, Nanjing Applicant before: NANJING LEPENG ELECTRONIC TECHNOLOGY CO., LTD. |
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20160427 |