CN102723791B - Wireless charging system of watercourse illegal pollution discharge detection robot fish - Google Patents
Wireless charging system of watercourse illegal pollution discharge detection robot fish Download PDFInfo
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- CN102723791B CN102723791B CN201210235134.2A CN201210235134A CN102723791B CN 102723791 B CN102723791 B CN 102723791B CN 201210235134 A CN201210235134 A CN 201210235134A CN 102723791 B CN102723791 B CN 102723791B
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Abstract
The invention discloses a wireless charging system of a watercourse illegal pollution discharge detection robot fish. The wireless charging system comprises a charting station cabinet body, a navigation device, a wireless electric energy transmitting device, a charging station control box and a charging box which provides a stay space for charging the robot fish, wherein the navigation device is arranged in the charging box and guides the robot fish to enter the charging box by transmitting signals; the charging box is arranged on the charging station cabinet body in a sliding mode and can move up and down together with river water; the wireless electric energy transmitting device is arranged at the bottom of the charging box and transmits electric energy to the robot fish in a wireless mode; and the charging station control box is arranged on the charging station cabinet body to manage the whole charging process. The wireless charging system has the advantages of high intelligent degree, wide application range, high controllability, high charging efficiency and the like.
Description
Technical field
The present invention is mainly concerned with aquatic bionic mobile robot charging device field, refers in particular to a kind of river course wireless charging system of blowdown detecting machine fish in violation of rules and regulations that is applicable to.
Background technology
Pollution of river situation is day by day serious now, government has no way out for the enterprise of some rows of stealing, there is practitioner to design underwater bionic robot river course is monitored, for example: river course is blowdown detecting machine fish in violation of rules and regulations, and it comes into operation and just can help government to solve this difficult problem.
" river course is blowdown detecting machine fish in violation of rules and regulations " is the bionic mechanical fish that a kind of height is intelligent, moving range is wide, its required electric energy is mainly from entrained battery pack, and the electric weight of battery pack is limited, need regularly it to be charged, to guarantee its flying power.At present, much mobile robot uses large-capacity battery pack as power resources under water, the general wired charging modes of artificial plug-in type that adopts of existing these underwater robots, the problem that this charging modes exists is: 1. plug receptacle easily produces and leaks, and underwater installation is damaged; 2. while charging due to underwater robot, generally adhere a large amount of water in the above, therefore can cause the situations such as electric leakage because of carelessness when charging, jeopardize the safety of personnel and equipment; 3. the charging modes of plug-in type needs manual intervention, and automaticity reduces; 4. during large current charge, while patching, due to the larger generation electric arc of electric current, pair of wire connection terminals causes damage, is unfavorable for the useful life of robot.
As from the foregoing, owing to there is so many problem in the charging modes of plug-in type, therefore be not suitable for highly intelligentized river course blowdown detecting machine fish in violation of rules and regulations.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical problem existing for prior art, the invention provides high, applied widely, handling good, the river course that charge efficiency is high of a kind of degree of intelligence wireless charging system of blowdown detecting machine fish in violation of rules and regulations.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of river course is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations, comprise charging station cabinet, guider, radio energy dispensing device, charging station control cabinet and be used for providing for machine fish charging the charging case of parking space, described guider is arranged in charging case and by the guiding machine fish that transmits and enters charging case, described charging case is slidedly arranged on charging station cabinet and can moves up and down with river, described radio energy dispensing device is installed on charging case bottom and transmits electric energy to machine fish by wireless mode, described charging station control cabinet is installed on charging station cabinet whole charging process is managed.
As a further improvement on the present invention:
Two above guide rails are housed on described charging station cabinet, and described charging case is slidedly arranged on guide rail.
Described charging station cabinet is provided with reel assembly, on described reel assembly, is arranged with transmission pressure, and one end of described transmission pressure is connected on charging case.
Described guider is infrared navigation assembly, is provided with infrared receiving sensor in described machine fish, and the infrared light bunch guiding machine fish that described infrared navigation assembly has frequecy characteristic by transmitting enters charging case.
The bottom of described charging station cabinet is fixed in charging station substrate.
Described charging station control cabinet comprises signal processing unit, wireless charging administrative unit and charging station processor, described charging station processor is connected with radio energy dispensing device and wireless charging process is controlled by signal processing unit, wireless charging administrative unit, described charging station processor is connected with guider and navigation procedure is controlled by signal processing unit, and described charging station processor is connected with radio communication circuit and communicates with machine fish.
Compared with prior art, the invention has the advantages that: river course of the present invention is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations, simple in structure, controllability good, intelligent degree is high, wherein there is machine fish and return to guiding device, can automatically guide machine fish to enter charging region, and use the blowdown detecting machine fish charging in violation of rules and regulations to river course of wireless power transmission mode, whole process is automatically and completes, charge efficiency is high, good reliability.
Accompanying drawing explanation
Fig. 1 is main TV structure schematic diagram of the present invention.
Fig. 2 is side-looking structural representation of the present invention.
The principle schematic of Fig. 3 when to be the present invention guide machine fish to enter charging station in concrete application example.
Fig. 4 is the frame structure schematic diagram of control circuit in the specific embodiment of the invention.
Fig. 5 is the frame structure schematic diagram of machine fish control circuit in specific embodiment.
Marginal data:
1. charging station control cabinet; 2. transmission pressure; 3. guide rail; 4. charging case; 5. guider; 6. radio energy dispensing device; 7. infrared receiving sensor; 8, reel assembly; 10. charging station cabinet; 11. machine fishs; 12. ultrasonic sensors; 13, radio energy receiving system; 14. machine fish battery management circuits; 15. machine fish signal processing circuits; 16. machine fish movement controllers; 17. machine fish processors; 18. radio communication circuits; 19. wireless charging administrative units; 20. signal processing units; 21. charging station processors; 22. charging station substrates; 23. machine fish radio communication circuits.
Embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As depicted in figs. 1 and 2, river course of the present invention is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations, comprise charging station cabinet 10, guider 5, radio energy dispensing device 6, charging station control cabinet 1 and be used for providing for machine fish 11 charging the charging case 4 of parking space, guider 5 is arranged on the middle position on charging case 4 chassis and enters charging case 4 by the guiding machine fish 11 that transmits, charging case 4 is slidedly arranged on charging station cabinet 10 and can moves up and down and keep half to surface with river, charging case 4 provides stop while charging for machine fish 11, fixing place, make machine fish 11 out of servicely be unlikely to again washed away.Radio energy dispensing device 6 is installed on charging case 4 bottoms and transmits electric energy to machine fish 11 by wireless mode, and when machine fish 11 enters behind charging region, radio energy dispensing device 6 just can detect and open.Charging station control cabinet 1 is installed on the top of charging station cabinet 10, is used for the operation of whole charging process and charging station to manage, as control of the open and close of guider 5, radio energy dispensing device 6 etc.All electric equipments of charging station: the power supply of the air switch of control circuit, access wire, earth leakage circuit-breaker, control circuit is all installed in charging station control cabinet 1.
In the present embodiment, two above guide rails 3 are housed on charging station cabinet 10, charging case 4 is slidedly arranged on guide rail 3, and guide rail 3 can make charging case 4 can follow the ups and downs of river and move up and down and not washed away.
In the present embodiment, charging station cabinet 10 is provided with reel assembly 8, is arranged with transmission pressure 2 on reel assembly 8, and one end of transmission pressure 2 is connected on charging case 4.Motor is installed in reel assembly 8 can adjust automatically according to the movement of charging case 4 reel to the length of transmission pressure 2.
In the present embodiment, guider 5 is infrared navigation assembly, is provided with infrared receiving sensor 7 in machine fish 11, and the infrared light bunch guiding machine fish 11 that infrared navigation assembly has frequecy characteristic by transmitting enters charging case 4.Infrared navigation assembly is arranged on the middle position of inwall in charging case 4, and charging station control cabinet 1 is opened guider 5 after receiving the information of returning to charging that machine fish 11 sends, and guider 5 can send the infrared ray that cluster has fixed frequency feature after opening.Infrared receiving sensor 7 is arranged on river course violation blowdown detecting machine fish 11, and machine fish 11 receives ultrared situation according to infrared receiving sensor 7 state of machine fish 11 is adjusted, to can correctly enter charging case 4, charges.When machine fish 11 certain one or more infrared receiving sensor 7 receive infrared ray, the attitude of adjusting machine fish 11 makes three transducers that are arranged on its place ahead receive infrared ray, after adjustment, straight line moves forward, in mobile, keep three infrared receiving sensors 7 can continue to receive infrared ray, until machine fish 11 ultrasonic sensor above detects while being less than with a certain distance from infrared navigation assembly, machine fish 11 enters and in charging case 4, carries out wireless charging.
As shown in Figure 4, charging station control cabinet 1 comprises signal processing unit 20, wireless charging administrative unit 19 and charging station processor 21, charging station processor 21 is connected with radio energy dispensing device 6 and wireless charging process is controlled by signal processing unit 20, wireless charging administrative unit 19, charging station processor 21 is connected and navigation procedure is controlled with guider 5 by signal processing unit 20, and charging station processor 21 is connected with radio communication circuit 18 and communicates with machine fish 11.Whether wireless charging administrative unit 19 can be detected and be had machine fish 11 charging by radio energy dispensing device 6, and wireless charging administrative unit 19 is connected with radio energy dispensing device 6 by transmission pressure 2.The operation of 21 pairs of whole charging stations of charging station processor manages, and all devices in charging station is accepted its control.When the radio communication circuit 18 of charging station receives that machine fish 11 is after the information of the request charging of its transmission, charging station processor 21 is controlled the charging of entering the station of guiders 5 guiding machine fishs 11, and 19 pairs of machine fishs 11 of control wireless charging administrative unit charge.
In the present embodiment, the bottom of charging station cabinet 10 is fixed in charging station substrate 22, and charging station substrate 22 is fixed in the earth under the bottom, and charging station can be fixed.
Referring to Fig. 3, Fig. 4 and Fig. 5, when river course in violation of rules and regulations blowdown detecting machine fish 11 by inner machine fish battery management circuit 14, battery electric quantity detected when low, machine fish processor 17 to machine fish movement controller 16 sending controling instructions, makes machine fish 11 return to wireless charging of the present invention power station by machine fish signal processing circuit 15.When machine fish 11 returns to charging station, first float to the water surface, use machine fish radio communication circuit 23 to send return information to charging station.The radio communication circuit 18 of charging station is received after the information that machine fish 11 returns, by signal processing unit 20, this information is sent in charging station processor 21, charging station processor 21 will be opened guider 5 and open wireless Charge Management unit 19 according to setting program.After machine fish 11 moves near charging station by GPS navigation mode, start the infrared receiving sensor 7 of self and detect infrared navigation signal, when some or a plurality of infrared receiving sensors 7 detect after infrared navigation signal, the attitude that machine fish 11 is adjusted self by machine fish movement controller 16 makes three infrared receiving sensors 7 in machine fish 11 the place aheads signal can be detected.Guarantee that the infrared receiving sensor 7 in three, machine fish 11 the place ahead all receives that in the situation of infrared signal, machine fish 11 will be by straight-line travelling, until the ultrasonic sensor 12 on machine fish 11 detects machine fish 11 when too small from guider 5 distance, stop moving and sink to being fixed on charging case 4, now machine fish 11 has entered in the charging scope of wireless charging of charging case 4 and has started charging by radio energy receiving system 13.Machine fish processor 17 receives after the complete information of charging that machine fish battery management circuit 14 sends over, and represents that charging is complete, and machine fish 11 floats and starts screw and makes machine fish 11 swim out of charging case 4 to continue the work of cruising.When machine fish 11 leaves charging station, by machine fish radio communication circuit 23, to charging station, send leave message, charging station receives closes all devices after information in holding state and waits for the return information of machine fish 11.
Below be only the preferred embodiment of the present invention, protection scope of the present invention is also not only confined to above-described embodiment, and all technical schemes belonging under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (5)
1. the river course wireless charging system of blowdown detecting machine fish in violation of rules and regulations, it is characterized in that, comprise charging station cabinet (10), guider (5), radio energy dispensing device (6), charging station control cabinet (1) and be used for providing for machine fish (11) charging the charging case (4) of parking space, described guider (5) is arranged in charging case (4) and by the guiding machine fish (11) that transmits and enters charging case (4), described charging case (4) is slidedly arranged on charging station cabinet (10) above and can moves up and down with river, described radio energy dispensing device (6) is installed on charging case (4) bottom and transmits electric energy to machine fish (11) by wireless mode, described charging station control cabinet (1) is installed on charging station cabinet (10) and above whole charging process is managed, described charging station control cabinet (1) comprises signal processing unit (20), wireless charging administrative unit (19) and charging station processor (21), described charging station processor (21) is by signal processing unit (20), wireless charging administrative unit (19) is connected and wireless charging process is controlled with radio energy dispensing device (6), described charging station processor (21) is connected and navigation procedure is controlled with guider (5) by signal processing unit (20), described charging station processor (21) is connected with radio communication circuit (18) and communicates with machine fish (11).
2. the wireless charging system of violation blowdown detecting machine fish in river course according to claim 1, is characterized in that, two above guide rails (3) are housed on described charging station cabinet (10), and described charging case (4) is slidedly arranged on guide rail (3).
3. the wireless charging system of machine fish is detected in river course according to claim 1 and 2 violation blowdown, it is characterized in that, described charging station cabinet (10) is provided with reel assembly (8), on described reel assembly (8), be arranged with transmission pressure (2), one end of described transmission pressure (2) is connected on charging case (4).
4. the wireless charging system of machine fish is detected in river course according to claim 1 and 2 violation blowdown, it is characterized in that, described guider (5) is infrared navigation assembly, in described machine fish (11), be provided with infrared receiving sensor (7), the infrared light bunch guiding machine fish (11) that described infrared navigation assembly has frequecy characteristic by transmitting enters charging case (4).
5. the wireless charging system of violation blowdown detecting machine fish in river course according to claim 1 and 2, is characterized in that, the bottom of described charging station cabinet (10) is fixed in charging station substrate (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210235134.2A CN102723791B (en) | 2012-07-09 | 2012-07-09 | Wireless charging system of watercourse illegal pollution discharge detection robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210235134.2A CN102723791B (en) | 2012-07-09 | 2012-07-09 | Wireless charging system of watercourse illegal pollution discharge detection robot fish |
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| CN102723791A CN102723791A (en) | 2012-10-10 |
| CN102723791B true CN102723791B (en) | 2014-04-23 |
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| CN201210235134.2A Active CN102723791B (en) | 2012-07-09 | 2012-07-09 | Wireless charging system of watercourse illegal pollution discharge detection robot fish |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109038838B (en) * | 2018-08-10 | 2020-08-07 | 山东建筑大学 | Wireless charging system and method for robot fish |
| CN112467852A (en) * | 2019-09-09 | 2021-03-09 | 清华大学 | Charging cabin and inspection robot fish matched with same |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101590904A (en) * | 2009-07-03 | 2009-12-02 | 重庆大学 | Energy pickup device for robotic fish |
| CN102217918A (en) * | 2010-04-14 | 2011-10-19 | 泰怡凯电器(苏州)有限公司 | Robot system and method for butt joint of robot and charging seat of robot system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005177065A (en) * | 2003-12-18 | 2005-07-07 | Keisuke Goto | Toy operated by induced electromotive force, and underwater apparatus having contactless recharging pad used for the same and floating toy capable of being contactlessly and automatically recharged |
| JP2005312096A (en) * | 2004-04-16 | 2005-11-04 | Funai Electric Co Ltd | Electric apparatus |
| TWM377001U (en) * | 2009-10-16 | 2010-03-21 | Micro Star Int Co Ltd | Electronic device |
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- 2012-07-09 CN CN201210235134.2A patent/CN102723791B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101590904A (en) * | 2009-07-03 | 2009-12-02 | 重庆大学 | Energy pickup device for robotic fish |
| CN102217918A (en) * | 2010-04-14 | 2011-10-19 | 泰怡凯电器(苏州)有限公司 | Robot system and method for butt joint of robot and charging seat of robot system |
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