CN108557039A - Underwater wireless charging robot, underwater wireless charging method and system - Google Patents
Underwater wireless charging robot, underwater wireless charging method and system Download PDFInfo
- Publication number
- CN108557039A CN108557039A CN201810457676.1A CN201810457676A CN108557039A CN 108557039 A CN108557039 A CN 108557039A CN 201810457676 A CN201810457676 A CN 201810457676A CN 108557039 A CN108557039 A CN 108557039A
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- Prior art keywords
- robot body
- robot
- underwater
- positioning unit
- wireless charging
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention provides underwater wireless charging robot, underwater wireless charging method and system, underwater wireless charging robot includes robot body, is provided on robot body：Transmitting module；Propulsion die, for driving robot body to move under water；Locating module, locating module includes the first positioning unit, for determining that the relative position between robot body and receiving terminal, locating module further include the second positioning unit, the transmitting coil for further determining that transmitting module and the relative position between the receiving coil of receiving terminal；Control module, the position signal for being fed back respectively according to the first positioning unit and the second positioning unit controls the operating status of propulsion die, to adjust the position of robot body.It solves the problems, such as to charge for underwater inconvenient mobile facility, positioning accuracy is high, improves charging rate and energy utilization rate, and the structure of positioning system is more simplified, and cost is lower, is conducive to extensive use.
Description
Technical field
The present invention relates to underwater charging technique fields, are filled in particular to underwater wireless charging robot, underwater wireless
Method for electrically and system.
Background technology
Ocean engineering has highly important work in Marine Sciences exploration, deep-ocean resource exploitation and Homeland Security etc.
With, therefore the research significance of the underwater sensor network to being relied in its engineering is great.Underwater sensor network has observation
With the ability of prediction ocean.Nobody or autonomous underwater robot (AUV) equipped with underwater sensor can be in the case where exploring Natural Water
It is applied in the joint-monitoring task of resource and collection science data, when that can be in communication with each other between underwater units, these are latent
Application will be possibly realized.In marine resources development and scientific research activity, it usually needs underwater robot and underwater sensing
The support of the electromechanical equipments such as device, and energy is an important factor for limiting these equipment usage times and scope of activities.
Wireless sensor network is generally made of the sensor node of substantial amounts, and is interspersed among in certain area, usually
Energy is provided using battery.But due to being limited by the design of node volume, the energy that the battery configured is capable of providing is
It is very limited.Simultaneously because sensor node is often deployed in the environment that personnel cannot reach, in addition involved range
It is very big, therefore can not be that each node changes new battery.
The method traditionally to charge to autonomous underwater robot (AUV) and sensor battery, it usually needs wet to insert
It pulls out transmission of electricity interface and connects underwater units with power supply to charge.Although wet connecting-disconnecting interface technology relative maturity, is also deposited simultaneously
In many drawbacks, not only berthing mechanism it is more complicated, there are security risk, difficult in maintenance, short life, but also it is more expensive.
Wireless energy transfer (WPT) is that energy is presented the technology that electrical equipment is in direct contact to non-electrical from power supply.Wireless energy transfer skill
The appearance of art, for above-mentioned wired charging there are the problem of have found effective solution scheme, obtained more and more researchers'
Pay attention to.But underwater wireless charging technique at this stage is mainly used for charging to the underwater robot for capableing of autonomous, at present also
Lack to the charge prepd of the underwater facility wireless charging of fixation, such as underwater sensor network wireless charging.Moreover, existing
In technology, by taking magnetic coupling resonance wireless energy transmission technology as an example, the distance between transmitting coil and receiving coil and orientation meeting
Influence charging rate and energy utilization rate, but since Underwater Navigation difficulty is higher, otherwise existing underwater wireless charging equipment by
It is not up to accurate matching status between transmitting terminal and receiving terminal and charging rate is slow, energy utilization rate is low or structure pole
It is complicated, of high cost, is difficult to use on a large scale.And charging structure, moving structure of existing charging system etc. is directly designed existing
It is installed on some AUV, does not fully consider the factors such as water body resistance, water body flow, underwater attenuation, lead to that there are charge efficiencies
Low, the problems such as energy consumption is higher, submarine site is stabilized difficulty, do not adapt to underwater need fully.
Invention content
For overcome the deficiencies in the prior art, the present invention provides underwater wireless charging robot, underwater wireless charging sides
Method and system.
Specifically, its technical solution is as follows：
A kind of underwater wireless charges robot, including robot body, is provided on the robot body：
Transmitting module；
Propulsion die, for driving the robot body to move under water；
Locating module, the locating module includes the first positioning unit, for determining the robot body and receiving terminal
Between relative position, the locating module further includes the second positioning unit, the hair for further determining that the transmitting module
Relative position between ray circle and the receiving coil of the receiving terminal；
Control module, the position signal for being fed back respectively according to first positioning unit and second positioning unit
The operating status for controlling the propulsion die, to adjust the position of the robot body.
In some preferred embodiments, first positioning unit includes acoustics location structure.
In some preferred embodiments, second positioning unit includes the positioning of multiple launching equal-pressure positioning signals
Coil, the set winding can emit position measurement signal, and the control module is configured as according to each set winding
Power determine the relative position between the transmitting coil and the receiving coil of the receiving terminal；
Alternatively, second positioning unit includes acoustics location structure or vision positioning structure.
In some preferred embodiments, the robot body has the water stream channel through its upper and lower ends face,
The propulsion die includes the main propulsion unit being arranged in the water stream channel.
In some preferred embodiments, the propulsion die include be arranged it is multiple on the outside of the robot body
Secondary propulsion unit.
In some preferred embodiments, there is buoyancy compartment in the robot body；
And/or there is power battery cabin or the nacelle for installing miscellaneous equipment in the robot body.
In some preferred embodiments, the robot body is cylindrical in shape structure, and the transmitting coil is embedded in institute
It states on the inside of robot body lower face.
A kind of underwater wireless charging method, using described in aforementioned any technical solution underwater wireless charge robot, into
The following operation of row：
According to the relative position between the robot body and the receiving terminal of first positioning unit feedback, control
The operating status for making the propulsion die makes the robot body close to the receiving terminal；
Relative position between the transmitting coil and the receiving coil that are fed back according to second positioning unit, into
Robot body described in one moved further makes to meet preset contraposition condition between the transmitting coil and the receiving coil；
Start the transmitting module, using the wireless energy transfer between the transmitting coil and the receiving coil to institute
State receiving terminal wireless charging.
A kind of underwater wireless charging system, including：
Underwater wireless charging robot described in aforementioned any technical solution；
Receiving terminal, the receiving terminal have the receiving coil.
In some preferred embodiments, further include for pair to underwater wireless charging robot wireless charging
It goes to the station to meet somebody, first positioning unit is additionally operable to determine the relative position between the robot body and Docking station；
Preferably, the receiving terminal is electrically connected with underwater sensor network, for being supplied to the underwater sensor network
Electricity；
Preferably, further include water surface feeder ear or shore-based power supply end, the water surface feeder ear and the shore-based power supply end
It is electrically connected respectively by cable between the Docking station；
Preferably, the receiving terminal further includes impedance matching module, high-frequency rectification module and power supply unit.
The present invention at least has the advantages that：
The present invention provides a kind of underwater wireless charging robot, underwater wireless charging robot can serve as under water
Mobile power uses, and can carry out wireless charging to these facilities near autonomous to underwater sensor network waiting charging structure
Electricity solves the problems, such as to charge for underwater inconvenient mobile facility, and underwater wireless charging robot has dual-positioning list
Member, the first positioning unit first determines the relative position between robot body and receiving terminal, convenient for the operation of control propulsion die
State makes robot body close to receiving terminal, and after robot body is close to receiving terminal, hair is determined using the second positioning unit
Relative position between ray circle and receiving coil, further mobile robot ontology, makes between transmitting coil and receiving coil
Meet preset contraposition condition and improves underwater emission as a result, to achieve the purpose that be accurately positioned transmitting coil and receiving coil
Positioning accuracy between coil and receiving coil is conducive to improve charging of the underwater wireless charging robot to underwater structure to be charged
Speed and energy utilization rate, and compared with single-stage Underwater Navigation unit, under same positioning accuracy, the structure of positioning system
More simplified, cost is lower, is conducive to extensive use.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the entity structure diagram of underwater wireless charging robot in the embodiment of the present invention；
Fig. 2 is the control planning schematic diagram of control module and other modules in the embodiment of the present invention；
Fig. 3 is the interaction schematic diagram of each unit in control module in the embodiment of the present invention；
Fig. 4 is the schematic diagram of transmitting coil in the embodiment of the present invention；
Fig. 5 is the schematic diagram of receiving coil in the embodiment of the present invention；
Fig. 6 is the schematic diagram of underwater wireless charging system in the embodiment of the present invention.
Main element symbol description：
10- underwater wireless charging robot；101- robot bodies；102- transmitting coils；103- set windings；104- water
Circulation road；105- buoyancy compartments；106- equipment compartments；107- propulsion dies；The main propulsion units of 1071-；1072- pair propulsion units；
108- control modules；The first positioning units of 109-；The second positioning units of 110-；111- transmitting modules；112- receiving coils；20-
Water surface feeder ear；30- Docking stations；40- receiving terminals；50- underwater sounds channel.
Specific implementation mode
Hereinafter, various embodiments of the present invention will be described more fully.The present invention can have various embodiments, and
It can adjust and change wherein.It should be understood, however, that：There is no various embodiments of the present invention are limited to spy disclosed herein
Determine the intention of embodiment, but should invention is construed as cover to fall into the spirit and scope of various embodiments of the present invention
All adjustment, equivalent and/or alternative.
Hereinafter, disclosed in the term " comprising " that can be used in various embodiments of the present invention or " may include " instruction
Function, operation or the presence of element, and do not limit the increase of one or more functions, operation or element.In addition, such as existing
Used in various embodiments of the present invention, term " comprising ", " having " and its cognate are meant only to indicate special characteristic, number
Word, step, operation, the combination of element, component or aforementioned item, and be understood not to exclude first one or more other
Feature, number, step, operation, the combination of element, component or aforementioned item presence or increase one or more features, number,
Step, the possibility of operation, the combination of element, component or aforementioned item.
In various embodiments of the present invention, it includes listing file names with to state "or" or " at least one of A or/and B "
Any combinations of word or all combinations.For example, statement " A or B " or " at least one of A or/and B " may include A, may include
B may include A and B both.
The statement (" first ", " second " etc.) used in various embodiments of the present invention can be modified in various implementations
Various constituent element in example, but respective sets can not be limited into element.For example, presented above be not intended to limit the suitable of the element
Sequence and/or importance.The purpose presented above for being only used for differentiating an element and other elements.For example, the first user fills
It sets and indicates different user device with second user device, although the two is all user apparatus.For example, not departing from each of the present invention
In the case of the range of kind embodiment, first element is referred to alternatively as second element, and similarly, second element is also referred to as first
Element.
It should be noted that：In the present invention, unless otherwise specific regulation and definition, the arts such as " installation ", " connection ", " fixation "
Language shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection or being integrally connected；It can be machine
Tool connects, and can also be electrical connection；Can be directly connected to, and it can be indirectly connected through an intermediary；It can be two
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the present invention, those skilled in the art are it is to be appreciated that indicating position or position relationship in text
Term be orientation based on ... shown in the drawings or position relationship, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of instruction or hint meaning or element must have a particular orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
The term used in various embodiments of the present invention is used only for the purpose of describing specific embodiments and not anticipates
In limitation various embodiments of the present invention.As used herein, singulative is intended to also include plural form, unless context is clear
Chu it is indicated otherwise.Unless otherwise defined, otherwise all terms (including technical terms and scientific terms) used herein have
There is meaning identical with the normally understood meaning of various embodiments of the present invention one skilled in the art.The term
(term such as limited in the dictionary generally used) is to be interpreted as having and situational meaning in the related technical field
Identical meaning and the meaning that Utopian meaning or too formal will be interpreted as having, unless in the various of the present invention
It is clearly defined in embodiment.
Embodiment
A kind of underwater wireless charging robot 10 is present embodiments provided, underwater wireless charging robot 10 can be used for
Underwater autonomous, and charge to electrical equipment.
Specifically, also referring to Fig. 1-Fig. 6, including robot body 101, transmitting is provided on robot body 101
The structures such as module 111, propulsion die 107, locating module and control module 108.Wherein, robot body as one preferred
101, as shown in Figure 1, its shell with tubular structure, transmitting module 111, propulsion die 107, locating module and control module
The structures such as 108 are separately positioned on shell either internally or externally.
Transmitting module 111 as one preferred, energy storage unit, high-frequency inversion unit, impedance matching unit and hair
Ray circle 102.Battery is equipped in energy storage unit, high-frequency inversion unit, impedance matching unit and transmitting coil 102 are sequentially electric
Property connection, the low-frequency current that energy storage unit export is converted into high-frequency current by high-frequency inversion unit, and signal is amplified, biography
It is defeated by transmitting coil 102, high-frequency current at transmitting coil 102 by generating resonance after impedance matching unit.
In the present embodiment, propulsion die 107 is for driving robot body 101 to move under water.Preferably, such as Fig. 1 institutes
Show, robot body 101 is cylindrical in shape structure, and transmitting coil 102 is embedded on the inside of 101 lower face of robot body.Further,
Robot body 101 is in vertical bullet shape, and robot body 101 has the water stream channel 104 through its upper and lower ends face,
Propulsion die 107 includes the main propulsion unit 1071 being arranged in water stream channel 104 so that the main fortune of robot body 101
Dynamic direction is vertical movement, small range can be moved in the horizontal direction, compared with existing underwater charging robot, water stream channel
104 setting not only reduces resistance, and water stream channel 104 is that main propulsion unit 1071 provides stable flow source, is increased
When strong underwater wireless charging robot navigation and stability when charging.As a result, charging structure and robot body knot
It is configured shape to be adapted, is conducive to improve charge efficiency and facilitates underwater running fix.
Main propulsion unit 1071 as one preferred comprising the structures such as helical blade, motor and holder, helical blade
Mounted on the output end of motor, motor is fixed on holder, and holder is located in water stream channel 104.When starting motor, motor band
Dynamic helical blade rotation, helical blade do work to flow and robot body 101 are made to be moved down in the reaction force of flow when rotating
It is dynamic.
Preferably, propulsion die 107 further includes the multiple secondary propulsion units 1072 being arranged in 101 outside of robot body.
Secondary propulsion unit 1072 is preferably distributed in multiple orientation in 101 outside of robot body, due to more on the outside of robot body 101
A orientation is provided with secondary propulsion unit 1072, you can by 1072 mobile robot ontology 101 of secondary propulsion unit, can also pass through
Secondary propulsion unit 1072 adjust 101 underwater posture of robot body, such as robot body 101 relative to target object
Angle of inclination and horizontally advance direction.
Pair propulsion unit 1072 as one preferred comprising the structures such as helical blade, motor and holder, helical blade
Mounted on the output end of motor, motor is fixed on holder, and holder is fixed on the outer side of robot body 101.Work as startup
When motor, motor drives helical blade rotation, helical blade to do work to flow when rotating and make robot body 101 in flow
It is moved under reaction force.
Preferably, robot body 101 is internally provided with buoyancy compartment 105, floats and sinks as control robot body 101
Supplementary structure, reduce navigation needed for power.
Preferably, inside robot body 101,105 lower part of buoyancy compartment, equipped with for installing setting for battery and other equipment
Standby cabin 106.
In the present embodiment, locating module includes the first positioning unit 109, for determining robot body 101 and receiving terminal
Relative position between 40, locating module further include the second positioning unit 110, the hair for further determining that transmitting module 111
Relative position between ray circle 102 and the receiving coil 112 of receiving terminal 40.
Wherein, the first positioning unit 109 as one preferred comprising acoustics location structure, i.e. hydrolocation structure,
Hydrolocation is built upon a kind of underwater position fixing technique and method on ultrasonic propagation technical foundation, passes through underwater sound channel 50
Acoustic signals propagation time or phase difference are measured, Underwater Navigation is carried out.About the concrete composition of hydrolocation structure, the present embodiment
In be no longer further discussed below.
In the present embodiment, control module 108, for anti-according to the first positioning unit 109 and the second positioning unit 110 respectively
The operating status of the position signal control propulsion die 107 of feedback, to adjust the position of robot body 101.Its particular hardware knot
Structure includes mainboard, processor, communication device, memory etc., and software controlled unit includes feedback modifiers unit, information processing list
Member, power control unit, signal generating unit etc., specific control planning in the present embodiment as shown in figure 3, do not chat further
It states.
Underwater wireless charging robot 10 can serve as mobile power use under water, can autonomous to underwater sensing
Device network waits for and carries out wireless charging to these facilities near charging structure, solves as underwater inconvenient mobile facility charging
The problem of, and there is dual-positioning unit, the first positioning unit 109 first to determine robot sheet for underwater wireless charging robot 10
Relative position between body 101 and receiving terminal 40 makes robot body 101 lean on convenient for the operating status of control propulsion die 107
Proximity receiving end 40 determines transmitting coil 102 after robot body 101 is close to receiving terminal 40 using the second positioning unit 110
Relative position between receiving coil 112, further mobile robot ontology 101, makes transmitting coil 102 and receiving coil
Meet preset contraposition condition between 112, to achieve the purpose that be accurately positioned transmitting coil 102 and receiving coil 112, as a result,
The positioning accuracy between underwater emission coil 102 and receiving coil 112 is improved, is conducive to improve underwater wireless charging robot 10
To the charging rate and energy utilization rate of underwater structure to be charged, and compared with single-stage Underwater Navigation unit, similarly fixed
Under the precision of position, the structure of positioning system is more simplified, and cost is lower, is conducive to extensive use.
Second positioning unit 110 as one preferred, as Figure 1 and Figure 4, the second positioning unit 110 include multiple hairs
The set winding 103 of isobaric positioning signal is penetrated, set winding 103 can emit position measurement signal, and control module 108 is configured
To determine the opposite position between transmitting coil 102 and the receiving coil 112 of receiving terminal 40 according to the power of each set winding 103
It sets.Under water, consider robot body 101 through 109 general location of the first positioning unit to 40 direction of receiving terminal, because connecing
40 position of receiving end is usually relatively more severe, precise positioning and control can not be realized in docking operation, by robot sheet
Multiple 103 launching equal-pressure positioning signals of (such as three) set winding are evenly provided in 102 plane of transmitting coil of body 101,
By the characteristic of magnetic coupling resonant charging mode it is recognised that being then alignment, side when 103 signal power of set winding is equal in magnitude
Just it is more accurately docked with transmitting coil 102 with receiving coil 112.
As another preferred second positioning unit 110, the second positioning unit 110 includes acoustics location structure, i.e. water
Acoustic fix ranging structure.When the second positioning unit 110 includes acoustics location structure, the first positioning unit 109 plays the first of globality
The effect of positioning is walked, the second positioning unit 110 is used as front end positioning unit, is arranged at transmitting coil 102, for realizing transmitting
Being accurately positioned between coil 102 and receiving coil 112.
Include vision positioning structure, such as camera as another preferred second positioning unit 110.Under such mode,
When robot body 101 is close to receiving terminal 40, the image of receiving terminal 40 is acquired using vision positioning structure, using image come really
Determine the distance between transmitting coil 102 and receiving coil 112 and angle.
The present embodiment additionally provides a kind of underwater wireless charging method, uses underwater wireless charger provided in this embodiment
Device people 10 carries out following operation：
According to the relative position between the robot body 101 and receiving terminal 40 of the first positioning unit 109 feedback, control pushes away
Into the operating status of module 107, make robot body 101 close to receiving terminal 40；
According to the relative position between the transmitting coil 102 and receiving coil 112 of the second positioning unit 110 feedback, into one
Moved further robot body 101 makes to meet preset contraposition condition between transmitting coil 102 and receiving coil 112；
Start transmitting module 111, using the wireless energy transfer between transmitting coil 102 and receiving coil 112 to reception
Hold 40 wireless chargings.
As shown in fig. 6, the present embodiment additionally provides a kind of underwater wireless charging system, including：
The underwater wireless charging robot 10 of the present embodiment preceding sections；
Receiving terminal 40, receiving terminal 40 have receiving coil 112.
Wherein, receiving terminal 40 refers to the underwater use electric device for needing to charge of setting, and structure preferably includes to receive line
Circle 112, impedance matching unit, high-frequency rectification unit, power supply unit and position feedback unit.Receiving coil 112 and emission lines
Circle 102 obtains AC signal by magnetic coupling resonance, and AC signal supplies electricity to power supply list by high-frequency rectification cell translation at direct current
Member power supply, power supply unit store electric energy, and electric energy is provided for underwater equipment.Position feedback unit includes and the first positioning unit
109 matched first position feedback ends and with 110 matched second position feedback end of the second positioning unit, it is anti-for position
Feedback.
Preferably, further include the Docking station 30 of 10 wireless charging of wireless charging robot under water supply, the first positioning is single
Member 109 is additionally operable to determine the relative position between robot body 101 and Docking station 30.Specifically, it can also be set in Docking station 30
Set transmitting module, receiving module be set in the robot body 101, when the two is close, using magnetic coupling harmonic technology or
Other wireless charging modes charge to underwater wireless charging robot 10 by Docking station 30.It preferably, can be by wireless charging machine
The transmitting module of people 10 is also used as receiving module.
Preferably, receiving terminal 40 is electrically connected with underwater sensor network, water supply lower sensor network power supply.
Preferably, further include water surface feeder ear 20 or shore-based power supply end, water surface feeder ear and shore-based power supply end respectively with
It is electrically connected by cable between Docking station 30.
Preferably, receiving terminal 40 further includes impedance matching module, high-frequency rectification module and power supply unit.
It will be appreciated by those skilled in the art that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, module in attached drawing or
Flow is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in device in implement scene can be described according to implement scene into
Row is distributed in the device of implement scene, can also be carried out respective change and is located at the one or more dresses for being different from this implement scene
In setting.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.
Aforementioned present invention serial number is for illustration only, does not represent the quality of implement scene.
Disclosed above is only several specific implementation scenes of the present invention, and still, the present invention is not limited to this, Ren Heben
What the technical staff in field can think variation should all fall into protection scope of the present invention.
Claims (10)
- The robot 1. a kind of underwater wireless charges, which is characterized in that including robot body, be arranged on the robot body Have：Transmitting module；Propulsion die, for driving the robot body to move under water；Locating module, the locating module includes the first positioning unit, for determining between the robot body and receiving terminal Relative position, the locating module further includes the second positioning unit, the emission lines for further determining that the transmitting module Relative position between circle and the receiving coil of the receiving terminal；Control module, the position signal for being fed back respectively according to first positioning unit and second positioning unit control The operating status of the propulsion die, to adjust the position of the robot body.
- The robot 2. underwater wireless according to claim 1 charges, which is characterized in that first positioning unit includes sound Learn location structure.
- The robot 3. underwater wireless according to claim 1 charges, which is characterized in that second positioning unit includes more The set winding of a launching equal-pressure positioning signal, the set winding can emit position measurement signal, the control module quilt It is configured to determine the phase between the transmitting coil and the receiving coil of the receiving terminal according to the power of each set winding To position；Alternatively, second positioning unit includes acoustics location structure or vision positioning structure.
- The robot 4. underwater wireless according to claim 1 charges, which is characterized in that the robot body, which has, to be run through The water stream channel of its upper and lower ends face, the propulsion die include the main propulsion unit being arranged in the water stream channel.
- The robot 5. underwater wireless according to claim 4 charges, which is characterized in that the propulsion die includes that setting exists Multiple secondary propulsion units on the outside of the robot body.
- The robot 6. underwater wireless according to claim 1 charges, which is characterized in that have in the robot body floating Power cabin；And/or there is power battery cabin or the nacelle for installing miscellaneous equipment in the robot body.
- The robot 7. underwater wireless according to claim 1 charges, which is characterized in that the robot body is cylindrical in shape knot Structure, the transmitting coil are embedded on the inside of the robot body lower face.
- 8. a kind of underwater wireless charging method, which is characterized in that filled using the underwater wireless described in any one of claim 1-7 Electric machine people carries out following operation：According to the relative position between the robot body and the receiving terminal of first positioning unit feedback, institute is controlled The operating status for stating propulsion die makes the robot body close to the receiving terminal；According to the relative position between the transmitting coil and the receiving coil of second positioning unit feedback, further The mobile robot body, makes to meet preset contraposition condition between the transmitting coil and the receiving coil；Start the transmitting module, is connect to described using the wireless energy transfer between the transmitting coil and the receiving coil Receiving end wireless charging.
- 9. a kind of underwater wireless charging system, which is characterized in that including：Underwater wireless charging robot described in any one of claim 1-7；Receiving terminal, the receiving terminal have the receiving coil.
- 10. underwater wireless charging system according to claim 9, which is characterized in that further include for the underwater nothing The Docking station of micro USB electric machine people's wireless charging, first positioning unit are additionally operable to determine the robot body and Docking station Between relative position；Preferably, the receiving terminal is electrically connected with underwater sensor network, for powering to the underwater sensor network；Preferably, further include water surface feeder ear or shore-based power supply end, the water surface feeder ear and the shore-based power supply end are distinguished It is electrically connected by cable between the Docking station；Preferably, the receiving terminal further includes impedance matching module, high-frequency rectification module and power supply unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810194884 | 2018-03-09 | ||
| CN2018101948847 | 2018-03-09 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108557039A true CN108557039A (en) | 2018-09-21 |
Family
ID=63538629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810457676.1A Pending CN108557039A (en) | 2018-03-09 | 2018-05-14 | Underwater wireless charging robot, underwater wireless charging method and system |
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| CN110065607A (en) * | 2019-05-17 | 2019-07-30 | 中国科学院自动化研究所 | Assist bionic machine fish |
| CN110212615A (en) * | 2019-06-28 | 2019-09-06 | Oppo广东移动通信有限公司 | Wireless charging pedestal and wireless charging pedestal control method |
| CN110239667A (en) * | 2019-07-15 | 2019-09-17 | 陈丹虹 | A kind of higher submarine for ocean observation of safety |
| CN110758692A (en) * | 2019-12-13 | 2020-02-07 | 江苏科技大学 | Wire plugging and unplugging and wireless power transmission dual-mode unmanned submersible vehicle charging device and charging method |
| CN111030315A (en) * | 2019-12-03 | 2020-04-17 | 广东电科院能源技术有限责任公司 | Wireless charging system of underwater equipment, coil of wireless charging system and maximum power tracking method |
| CN111313564A (en) * | 2020-02-18 | 2020-06-19 | 湖南大学 | Wireless power transmission system of underwater unmanned underwater vehicle and control method |
| CN112421804A (en) * | 2020-12-10 | 2021-02-26 | 哈尔滨工业大学 | Autonomous underwater wireless charging and intelligent alignment guiding system and method for unmanned underwater vehicle with interoperability |
| WO2021042689A1 (en) * | 2019-09-06 | 2021-03-11 | 大连理工大学 | Wireless charging underwater model identification system |
| CN112925332A (en) * | 2021-01-20 | 2021-06-08 | 上海交通大学 | Cooperative intersection butt joint control method for unmanned ship and underwater unmanned submersible vehicle combined system |
| CN113002749A (en) * | 2021-04-28 | 2021-06-22 | 广东海洋大学 | Novel bionic ray |
| 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 |
| CN113844308A (en) * | 2021-09-27 | 2021-12-28 | 中国人民解放军92609部队 | Unmanned charging system based on isotope power supply |
| CN116032036A (en) * | 2022-12-30 | 2023-04-28 | 哈尔滨工业大学（威海） | Underwater robot wireless charging system and method based on visual positioning |
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| CN110065607A (en) * | 2019-05-17 | 2019-07-30 | 中国科学院自动化研究所 | Assist bionic machine fish |
| CN110212615A (en) * | 2019-06-28 | 2019-09-06 | Oppo广东移动通信有限公司 | Wireless charging pedestal and wireless charging pedestal control method |
| CN110239667A (en) * | 2019-07-15 | 2019-09-17 | 陈丹虹 | A kind of higher submarine for ocean observation of safety |
| WO2021042689A1 (en) * | 2019-09-06 | 2021-03-11 | 大连理工大学 | Wireless charging underwater model identification system |
| CN111030315A (en) * | 2019-12-03 | 2020-04-17 | 广东电科院能源技术有限责任公司 | Wireless charging system of underwater equipment, coil of wireless charging system and maximum power tracking method |
| CN110758692A (en) * | 2019-12-13 | 2020-02-07 | 江苏科技大学 | Wire plugging and unplugging and wireless power transmission dual-mode unmanned submersible vehicle charging device and charging 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 |
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| CN112421804A (en) * | 2020-12-10 | 2021-02-26 | 哈尔滨工业大学 | Autonomous underwater wireless charging and intelligent alignment guiding system and method for unmanned underwater vehicle with interoperability |
| CN112421804B (en) * | 2020-12-10 | 2021-12-17 | 哈尔滨工业大学 | Underwater wireless charging and intelligent alignment guiding method for autonomous unmanned underwater vehicle |
| CN112925332B (en) * | 2021-01-20 | 2022-02-22 | 上海交通大学 | Cooperative intersection butt joint control method for unmanned ship and underwater unmanned submersible vehicle combined system |
| CN112925332A (en) * | 2021-01-20 | 2021-06-08 | 上海交通大学 | Cooperative intersection butt joint control method for unmanned ship and underwater unmanned submersible vehicle combined system |
| CN113002749A (en) * | 2021-04-28 | 2021-06-22 | 广东海洋大学 | Novel bionic ray |
| 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 |
| CN113844308A (en) * | 2021-09-27 | 2021-12-28 | 中国人民解放军92609部队 | Unmanned charging system based on isotope power supply |
| CN116032036A (en) * | 2022-12-30 | 2023-04-28 | 哈尔滨工业大学（威海） | Underwater robot wireless charging system and method based on visual positioning |
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