CN102709993A - Laser alignment device and method for underwater wireless charging system - Google Patents
Laser alignment device and method for underwater wireless charging system Download PDFInfo
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- CN102709993A CN102709993A CN2012101513142A CN201210151314A CN102709993A CN 102709993 A CN102709993 A CN 102709993A CN 2012101513142 A CN2012101513142 A CN 2012101513142A CN 201210151314 A CN201210151314 A CN 201210151314A CN 102709993 A CN102709993 A CN 102709993A
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Abstract
The invention provides a laser alignment device and a laser alignment method, which are used for accurate alignment between an AUV external charging device and a fixed wireless charging device. The laser alignment device comprises an alignment emitting device and an alignment receiving device, wherein the alignment emitting device is arranged on the fixed wireless charging device; and the alignment receiving device is arranged on the surface of the AUV external charging device; if a laser receiver group in the alignment receiving device can correctly receive the laser signals from the laser emitter group in the alignment emitting device, the accurate alignment is achieved. The laser alignment device and the laser alignment method have the beneficial effects that the problems that the power source of the underwater vehicle is hard to replace, and the working range and time are limited by the power source are solved; the working period of the underwater vehicle is prolonged, and the working range is expanded.
Description
Technical field:
The present invention relates to the docking facilities and the method for underwater wireless charging system, relate in particular to a kind of novel, laser alignment device and method efficiently, this alignment device and method can realize AUV charging device and the fixing aligning between charger and docking under water.
Background technology:
Along with the rise of human development ocean upsurge, autonomous under water ROV AUV is widely used in marine application fields such as marine environment detection, marine resources exploration and exploitation, marine site monitoring and intrusion detection.Limited by self-characteristic, AUV adopts powered battery more, and propeller and various electronic equipment are supplied power; But receive the restriction of volume and cost; Battery volume and the power supply capacity of AUV are limited, can't keep AUV at a distance, on a large scale, macrocyclic work requirements, only can work the short time.Therefore, the AUV strong functions receives the restriction of power supply, can't give full play to its function, therefore needs to design and develop the charging technique of a kind of AUV of being applicable to.
The wireless charging technology is a kind of emerging technology, and its basic scheme is to carry out energy delivery through the electromagnetic wave that is provided with between reflector and receiver, reaches the purpose of wireless charging.
Wireless charging system comprises: be connected in the primary coil in the ac power supply line, be used for converting alternating current into electromagnetic wave; And be integrated in the secondary coil in the equipment to be charged.The primary coil changes of magnetic field of charger also forms induced electromotive force, and secondary coil is responded to and converted electromagnetic wave into electric energy.Need not to use plug and socket to be connected between equipment to be charged and charger in this kind wireless charging system, only need equipment to be charged with built-in secondary coil and rectification circuit be placed on the battery that to treat charging device in the charger charging zone and charge.Existing wireless charging system is that primary coil and secondary coil are carried out the separate type design; Primary coil energising back in the charger case produces primary magnetic field; The secondary coil that is in the primary charging coil zone produces the secondary induction electromotive force and carries out the rectification processing, realizes the charging to device battery.Secondary coil and rectification treatment circuit are in equipment to be charged, and electromagnetic coupled efficient and its spacing between primary coil and secondary coil are inversely proportional to, i.e. the nearlyer then primary coil of the two relative distance induction and to be delivered to the efficient of electric energy of secondary coil high more.During practical application, wireless charging system generally also comprises low frequency rectification circuit and the high-frequency oscillating circuits between AC power and charger primary coil, and the high-frequency rectification circuit of secondary coil in the equipment to be charged.
Compare with traditional charging technique, the advantage of wireless charging technology shows the following aspects: not limited by electric wire length, solve the problem that the various criterion charger can't be general; Some electric equipment that need do encapsulation process preferably is exactly to adopt the wireless power technology that send, and so the better processing of meeting on the water-proofing treatment is being set; Be convenient to infrastructure device, provide wireless charging device during the design planning of future city in public, make things convenient for citizen's life as a kind of convenience-for-people equipment as the public.Therefore, the wireless charging technology will become a kind of technology of rapidly, greatly developing.
In the present invention the wireless charging technology is applied to the charging of AUV, solves the submarine navigation device power supply and be difficult to change, working range and time receive the problem of power limitations, prolong the work period of submarine navigation device, enlarge its working range.This underwater wireless charging system comprises fixedly charging device and the AUV that is fixed in the seabed.Charging device is supplied with alternating current by cable, comprises low frequency rectification circuit and high-frequency oscillating circuits between primary coil and AC power and primary coil.The last outfit of AUV external charging induction installation comprises secondary induction coil and high-frequency rectification circuit, links to each other with the AUV battery, and battery is carried out DC charging.
Receive the influence of ocean current and the restriction of AUV positioning accuracy under water; External charging induction installation of AUV and the fixing aligning between charging device and to dock be the problem of a difficulty under water; Need design to be suitable for, effectively to aim at and docking system, realize aiming between AUV and charger.
Summary of the invention:
The objective of the invention is to solve the accurate aligning and the butt joint problem of underwater wireless charging system, and a kind of alignment system and alignment methods that is used for the underwater wireless charging system is provided.
The invention provides a kind of laser alignment device; Be used for accurate aligning the between the external charging device of AUV and fixed wireless charging device; This laser alignment device comprises aims at emitter and aims at receiving system; Said aligning emitter is installed on the said fixed wireless charging device, and said aligning receiving system is installed in the external charging device surface of said AUV, and said aligning emitter comprises:
Laser transmitter group, emission of lasering beam during energising is used for aiming at AUV;
Nautical receiving set is used to receive the underwater sound signal that AUV sends;
Control module is used to control the operating state and the mode of operation of laser transmitter group;
Said aligning receiving system comprises:
The laser pickoff group is used to receive corresponding laser signal;
Underwater sound transmitter is used for sending underwater sound signal to said fixing wireless charging device, and controls the operating state of said laser pickoff group;
Control module is used to control each propeller, and attitude and the speed of adjustment AUV.
The present invention provides a kind of underwater wireless charging system, comprises the fixedly charging device and the AUV that are fixed in the seabed, and said system also comprises above-mentioned laser alignment device.
The present invention also provides a kind of laser alignment method, is used for above-mentioned laser alignment device, said method comprising the steps of:
When 1) AUV need charge, at first confirm the direction and the positional information of fixed wireless charging device, adjust self attitude, the control headway, to said fixed wireless charging device near;
2) AUV is according to the positional information calculation of self-position information and fixed wireless charging device distance between the two; When distance satisfy predetermined threshold value apart from the time, the underwater sound transmitter of said aligning receiving system sends underwater sound signal and notifies said fixed wireless charging device to begin to carry out laser alignment;
3) said nautical receiving set receives and handles said underwater sound signal, and transfers to the control module processing of said aligning emitter, the control module transmitting control commands of said aligning emitter, the work of driving laser reflector group, emission of lasering beam;
4) control module of said aligning receiving system reads the receiver group state of said aligning receiving system, judges whether each receiver is aimed at reflector, controls corresponding propeller and carries out the adjustment of AUV attitude;
5) after both sides aimed at, AUV constantly carried out the attitude fine setting according to the gait of march of distance control between the two in the traveling process;
6) AUV judges according to the transducer that is provided with on the said external charging device whether it effectively docks with said fixedly charging device;
7) after said fixed wireless charging device detected the butt joint completion, drive circuit carried out electromagnetic conversion, begins to charge for AUV.
The invention has the beneficial effects as follows that solving the submarine navigation device power supply is difficult to change, working range and time receive the problem of power limitations, prolong the work period of submarine navigation device, enlarge its working range.
Description of drawings:
Fig. 1 is the laser alignment device sketch map of the embodiment of the invention;
Fig. 2 is the flow chart of the alignment procedures of the embodiment of the invention;
Fig. 3 is that the control module of the aligning receiving system of the embodiment of the invention connects block diagram.
Embodiment:
With reference now to accompanying drawing, 1-3 describes embodiments of the invention, and in fact, these embodiment can have multi-form, and should not be construed as the embodiment that is limited in this elaboration.
AUV has external charging device, and this charging device inside is secondary induction coil and rectification circuit, and links to each other with the battery of AUV inside cavity, for battery charges.The fixed wireless charging device is supplied with alternating current by cable, comprises low frequency rectification circuit and high-frequency oscillating circuits between primary coil and AC power and primary coil.As shown in Figure 1, the laser alignment device of the wireless charging system that present embodiment provides is used for accurate aligning the between the external charging device of AUV and fixed wireless charging device.Laser alignment device comprises aims at emitter and aims at receiving system.
Said aligning emitter is installed on the fixed wireless charging device that is fixed on the seabed; Said aligning emitter comprises: 1) laser transmitter group; Said laser transmitter group is made up of five generating lasers; Comprising two horizontal directions, two vertical direction and a generating laser that is positioned at the center, emission of lasering beam during energising is used for aiming at AUV; 2) nautical receiving set, said nautical receiving set is a hydrophone, is used to receive the underwater sound signal that AUV sends; 3) control module, said control module are used to control the operating state and the mode of operation of laser transmitter group.
Aim at receiving system; Aim at receiving system and be installed in the external charging device surface of AUV, be used for laser alignment, said aligning receiving system comprises: 1) laser pickoff group; Said laser pickoff group is by being made up of five laser pickoffs; Comprising two horizontal directions, two vertical direction and a laser pickoff that is positioned at the center, this laser pickoff is a laser diode, is used to receive corresponding laser signal; 2) underwater sound transmitter, said underwater sound transmitter is a transducer, is used for sending underwater sound signal to said fixing wireless charging device, and controls the operating state of said laser pickoff group; 3) control module, said control module are navigation and the control system of AUV, are used to control each propeller, attitude and the speed of adjustment AUV.
Described laser pickoff group can correctly receive the laser signal of corresponding laser transmitter group, then thinks and has realized accurate aligning between the two.
With reference now to Fig. 2,, the laser alignment method that this instance provided to be described, it may further comprise the steps:
When S001:AUV need charge, at first confirm the direction and the positional information of fixed wireless charging device, adjust self attitude, the control headway, to said fixed wireless charging device near.
S002:AUV is according to the positional information calculation of self-position information and fixed wireless charging device distance between the two; When distance satisfy predetermined threshold value apart from the time (this threshold value is the laser effective propagation path in the environment under water), the underwater sound transmitter of said aligning receiving system sends underwater sound signal and notifies said fixed wireless charging device to begin to carry out laser alignment.
S003: said nautical receiving set receives and handles said underwater sound signal, and transfers to the control module processing of said aligning emitter, said control module transmitting control commands, the work of driving laser reflector group, emission of lasering beam.
S004: the control module of said aligning receiving system reads the receiver group state of said aligning receiving system, judges whether each receiver is aimed at reflector, controls corresponding propeller and carries out the adjustment of AUV attitude.Referring to accompanying drawing 3, concrete grammar is at first to carry out horizontal aligument, promptly controls the propeller of vertical direction the laser pickoff (shown in accompanying drawing 1) of horizontal direction is aimed at, and guarantees to aim at both sides and is in the same degree of depth; Carry out perpendicular alignmnet then, promptly the propeller of controlling level direction is regulated deflection and yaw angle, and the laser pickoff (shown in accompanying drawing 1) of vertical direction is aimed at; After finishing level and perpendicular alignmnet,, carry out centrally aligned if the attitude fine setting is then carried out in still misalignment of center laser pickoff (shown in accompanying drawing 1).
S005: after both sides aimed at, AUV constantly carried out the attitude fine setting according to the gait of march of distance control between the two in the traveling process, to eliminate the error component of ocean current influence and propeller self.For avoid AUV braking untimely with inertia can to AUV and fixedly charger cause physical damnification, when distance reached predetermined threshold value between the two, AUV closed propeller, relies on effect of inertia to arrive destination locations.
S006:AUV judges that according to the transducer that is provided with on the external charging device whether it effectively dock with fixing charging device.If accomplished butt joint, then begin to charge; If because of error is not accomplished butt joint, then drive propeller and carry out the attitude fine setting, accomplish butt joint.
S007: after the fixed wireless charging device detected the butt joint completion, drive circuit carried out electromagnetic conversion, begins to charge for AUV.
The attitude that adopts a plurality of propeller controls and adjustment AUV according to embodiments of the invention is described in accompanying drawing 3.For example, can comprise the port and starboard horizontal propeller that is used for providing deflection or other controlled motion at azimuth direction.Additionally or substituting ground, can comprise first and second vertical pusher.Vertical pusher can provide with respect to AUV along the control of moving of the vertical direction of direction up or down.Have four angle of rake embodiment although described, AUV can adopt the propeller of any number, and propeller can be positioned or configuration otherwise, so that at the different directions of any amount attitude control is provided.
In the exemplary embodiment; The control module of the aligning receiving system of Fig. 3 also is connected with one or more storage devices; Exemplary embodiment according to the present invention is configured to store data, instruction, control program etc., makes control system and other application program can realize function.In the said control module of anticipating shown in Fig. 3 can be automatically, adopts industrial computer also can adopt embedded system to realize as control centre as control centre.Equally, control module can be presented as in the computer program that propeller is controlled, and sends order to a plurality of propellers, controls corresponding propeller work.
Aim at the various state errors of control module accepting state vector sum of receiving system described in the embodiment, produce each angle of rake brake command according to error, the control propeller carries out corresponding operating.The state parameter and the vector that adopt include but not limited to position, angle and state vector.Said state parameter and vector can directly be measured and estimate to be obtained by means of kalman filter models by equipment.Inertial Measurement Unit can provide information such as comprising course angle, angular speed, acceleration and longitude and latitude.Acceleration after the renewal of AUV and positional information continue sensing by the inertial navigation assembly, are used for confirming state error.Said error offers said control module, is used to upgrade angle of rake instruction.Make virtual condition level off to expecting state gradually through continuous minimizing error.
Among the present invention the wireless charging technology is applied to the charging of AUV, solves the submarine navigation device power supply and be difficult to change, working range and time receive the problem of power limitations, the work period of prolongation submarine navigation device, enlarge its working range.
Claims (10)
1. laser alignment device; Be used for accurate aligning the between the external charging device of AUV and fixed wireless charging device; This laser alignment device comprises aims at emitter and aims at receiving system, and said aligning emitter is installed on the said fixed wireless charging device, and said aligning receiving system is installed in the external charging device surface of said AUV; It is characterized in that said aligning emitter comprises:
Laser transmitter group, emission of lasering beam during energising is used for aiming at AUV;
Nautical receiving set is used to receive the underwater sound signal that AUV sends;
Control module is used to control the operating state and the mode of operation of laser transmitter group;
Said aligning receiving system comprises:
The laser pickoff group is used to receive corresponding laser signal;
Underwater sound transmitter is used for sending underwater sound signal to said fixing wireless charging device, and controls the operating state of said laser pickoff group;
Control module is used to control each propeller, and attitude and the speed of adjustment AUV.
2. laser alignment device according to claim 1 is characterized in that, said laser transmitter group is made up of five generating lasers, comprising two horizontal directions, two vertical direction and a generating laser that is positioned at the center.
3. laser alignment device according to claim 1 is characterized in that, said laser pickoff group is by being made up of five laser pickoffs, comprising two horizontal directions, two vertical direction and a laser pickoff that is positioned at the center.
4. laser alignment device according to claim 3 is characterized in that, said laser pickoff is a laser diode.
5. laser alignment device according to claim 1 is characterized in that, said nautical receiving set is a hydrophone, and said underwater sound transmitter is a transducer.
6. laser alignment device according to claim 1 is characterized in that, the control module of said aligning receiving system is navigation and the control system of AUV.
7. a underwater wireless charging system comprises the fixedly charging device and the AUV that are fixed in the seabed, it is characterized in that said system also comprises the laser alignment device of one of claim 1-6.
8. laser alignment method is used for the laser alignment device of one of claim 1-6, it is characterized in that, said method comprising the steps of:
When 1) AUV need charge, at first confirm the direction and the positional information of fixed wireless charging device, adjust self attitude, the control headway, to said fixed wireless charging device near;
2) AUV is according to the positional information calculation of self-position information and fixed wireless charging device distance between the two; When distance satisfy predetermined threshold value apart from the time, the underwater sound transmitter of said aligning receiving system sends underwater sound signal and notifies said fixed wireless charging device to begin to carry out laser alignment;
3) said nautical receiving set receives and handles said underwater sound signal, and transfers to the control module processing of said aligning emitter, the control module transmitting control commands of said aligning emitter, the work of driving laser reflector group, emission of lasering beam;
4) control module of said aligning receiving system reads the receiver group state of said aligning receiving system, judges whether each receiver is aimed at reflector, controls corresponding propeller and carries out the adjustment of AUV attitude;
5) after both sides aimed at, AUV constantly carried out the attitude fine setting according to the gait of march of distance control between the two in the traveling process;
6) AUV judges according to the transducer that is provided with on the said external charging device whether it effectively docks with said fixedly charging device;
7) after said fixed wireless charging device detected the butt joint completion, drive circuit carried out electromagnetic conversion, begins to charge for AUV.
9. alignment methods according to claim 8 is characterized in that step 2) in said threshold value be the laser effective propagation path in the environment under water.
10. alignment methods according to claim 8; It is characterized in that; The judgement of step 4) and the concrete grammar of control are at first to carry out horizontal aligument, promptly control the propeller of vertical direction the laser pickoff of horizontal direction is aimed at, and guarantee to aim at both sides and are in the same degree of depth; Carry out perpendicular alignmnet then, promptly the propeller of controlling level direction is regulated deflection and yaw angle, and the laser pickoff of vertical direction is aimed at; After finishing level and perpendicular alignmnet,, carry out centrally aligned if the attitude fine setting is then carried out in the still misalignment of the laser pickoff at center.
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