CN105226778A - Based on the unmanned boat recharging system of wireless charging - Google Patents
Based on the unmanned boat recharging system of wireless charging Download PDFInfo
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- CN105226778A CN105226778A CN201510637017.2A CN201510637017A CN105226778A CN 105226778 A CN105226778 A CN 105226778A CN 201510637017 A CN201510637017 A CN 201510637017A CN 105226778 A CN105226778 A CN 105226778A
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- 230000005674 electromagnetic induction Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 description 4
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Abstract
The present invention relates to a kind of unmanned boat recharging system based on wireless charging, comprise unmanned boat, unmanned landing pier, wireless charging module; Described wireless charging module is based on electromagnetic induction principle, and its charging module transmitting terminal is positioned on unmanned landing pier, is connected with alternating current 220V charging cable; Its charging module receiving terminal is positioned at unmanned boat afterbody, is connected with the power supply on unmanned boat.This recharging system is reasonable, structure simple, and the method that charging adopts is easy to realize; Some restrictions adopting wireless charging technology that contact can be avoided to charge, without the need to accurate location when unmanned boat rests on harbour, charging module two ends have higher connective stability; The whole charging process of system completely independently completes, and without the need to human intervention, can improve independence and the intellectuality of unmanned boat further.
Description
Technical field
The present invention relates to a kind of unmanned boat recharging system, particularly a kind of unmanned boat recharging system based on wireless charging, belongs to unmanned boat applied technical field.
Background technology
Unmanned boat is a kind of miniature self-service surface platform emerging in the last few years, it carries GPS, inertial navigation, radar, sonar, the equipment such as ultrasonic, can realize the function such as self-contained navigation, automatic obstacle avoiding, and clearance can be completed, hunt thunder, the special duty such as antisubmarine.In order to enable various equipment on unmanned boat normally work, it is its power supply that unmanned boat needs by batteries usually.Therefore, be that it completes the basic premise of various function and task for unmanned boat carries out charging in time.
At present, unmanned boat charging is completed by manual operation usually.Unmanned boat power on quantity not sufficient time, unmanned boat landing pier can be controlled or reclaimed by lash ship, by bank electricity or lash ship ship electricity be charge in batteries on unmanned boat.This charging modes significantly limit autonomy-oriented and the intellectuality of unmanned boat, particularly for some small-sized unmanned boats, its battery durable ability only has several hours, charges in this way if adopted, greatly will increase human cost, be unfavorable for further developing of unmanned boat.
Summary of the invention
The object of this invention is to provide a kind of unmanned boat recharging system based on wireless charging, solve the present situation that unmanned boat must be charged by human intervention, add the flying power of unmanned boat, improve its autonomy-oriented degree.
The technical solution adopted for the present invention to solve the technical problems is:
Based on a unmanned boat recharging system for wireless charging, comprise unmanned boat, unmanned landing pier, wireless charging module; Described wireless charging module is based on electromagnetic induction principle, and its charging module transmitting terminal is positioned on unmanned landing pier, is connected with alternating current 220V charging cable; Its charging module receiving terminal is positioned at unmanned boat afterbody, is connected with the power supply on unmanned boat.
Described unmanned boat is provided with GPS navigation module, the afterbody of unmanned boat is provided with charging module receiving terminal.
Described unmanned landing pier comprises charging module transmitting terminal, control unit, signal emission module, range sensor, level measurement device, limited impression, fixture; Described charging module transmitting terminal is positioned on the sidewall of unmanned landing pier, and it adjusts highly as required, and described range sensor is positioned at the below of charging module transmitting terminal, for measure the transmitting terminal of wireless charging module and receiving terminal distance; Described level measurement device is positioned at the below of range sensor, contacts with the water surface, measures the Real-time Water place value of this position, and regulates the height of charging module transmitting terminal in real time, ensures to be in same level height with the charging module receiving terminal moment; Described signal emission module and control unit are arranged on unmanned landing pier top; Described limited impression is U-shaped, the motion of restriction unmanned boat transverse direction; Described fixture, on two walls of limited impression, can be stretched, block unmanned boat when stretching out, and limits the motion of its longitudinal direction.
The working method of present system is:
When the unmanned boat electricity that the water surface is executed the task is lower than a certain value, the position signalling that unmanned boat sends according to signal transmitting module on harbour searches nearest unmanned landing pier, and judges that whether it is occupied.If this harbour is occupied, then find next unmanned landing pier; If this harbour does not have occupied, then unmanned boat independently navigates by water to this harbour position, and reversing enters in limited impression.Now, range sensor detects the distance at charging module two ends, if distance meets charging requirement, then fixture locking unmanned boat, starts wireless charging.The state of this harbour is set to seizure condition by signal transmitting module, sends to other unmanned boat.After unmanned boat charging complete, fixture unlocks, and unmanned boat rolls harbour away from, returns the work before its working region is continued.
Compared with prior art, the invention has the beneficial effects as follows:
This recharging system is reasonable, structure simple, and the method that charging adopts is easy to realize; Some restrictions adopting wireless charging technology that contact can be avoided to charge, without the need to accurate location when unmanned boat rests on harbour, charging module two ends have higher connective stability; The whole charging process of system completely independently completes, and without the need to human intervention, can improve independence and the intellectuality of unmanned boat further.
Accompanying drawing explanation
Fig. 1 is the structural representation of present system.
Fig. 2 is unmanned boat of the present invention and carries module diagram.
Fig. 3 is each module diagram of the unmanned landing pier of the present invention.
Fig. 4 is the unmanned landing pier schematic top plan view of the present invention.
Fig. 5 is the flow chart that the present invention realizes system works.
Embodiment
Below in conjunction with accompanying drawing, specific embodiments of the invention are described further.
As shown in Figure 1, a kind of unmanned boat recharging system based on wireless charging, comprises unmanned boat 1, unmanned landing pier 10, wireless charging module 3; Described wireless charging module 3 is based on electromagnetic induction principle, and its charging module transmitting terminal 3-1 is positioned on unmanned landing pier 10, is connected with alternating current 220V charging cable; Its charging module receiving terminal 3-2 is positioned at unmanned boat 1 afterbody, is connected with the power supply on unmanned boat 1.
As shown in Figure 2, described unmanned boat 1 is provided with GPS navigation module 2, the afterbody of unmanned boat 1 is provided with charging module receiving terminal 3-2.
As shown in Figure 3 and Figure 4, described unmanned landing pier 10 comprises charging module transmitting terminal 3-1, control unit 4, signal emission module 5, range sensor 6, level measurement device 7, limited impression 8, fixture 9; Described charging module transmitting terminal 3-1 is positioned on the sidewall of unmanned landing pier 10, and it adjusts highly as required, and described range sensor 6 is positioned at the below of charging module transmitting terminal 3-1, for measure the transmitting terminal of wireless charging module 3 and receiving terminal distance; Described level measurement device 7 is positioned at the below of range sensor 6, contacts with the water surface, measures the Real-time Water place value of this position, and regulates the height of charging module transmitting terminal 3-1 in real time, ensures to be in same level height with the charging module receiving terminal 3-2 moment; Described signal emission module 5 and control unit 4 are arranged on unmanned landing pier 10 top; Described limited impression 8 is U-shaped, the motion of restriction unmanned boat 1 transverse direction; Described fixture 9, on two walls of limited impression 8, can be stretched, and blocks unmanned boat 1 when stretching out, and limits the motion of its longitudinal direction.
Be illustrated in figure 5 the operational flowchart of present system, be described in detail as follows:
S01: each module initialization, unmanned boat 1 obtains self-position by GPS navigation module 2; Unmanned landing pier 10 sends self-position and seizure condition information by signal transmitting module 5 to all unmanned boats in communication range; Charging module transmitting terminal 3-1 adjusts its height according to the measured value of level measurement device 7.
S02: the too low unmanned boat 1 of electricity stops performing of task, all unmanned landing pier 10 in search communication range, calculates the distance of unmanned boat 1 and each harbour, finds nearest harbour according to GPS location.
S03: the seizure condition of the unmanned landing pier 10 that judging distance is nearest, if be " 1 ", represent occupied, then gives up this harbour, find next harbour; If be " 0 ", represent unoccupied, then determine that stopping this harbour charges.
S04: unmanned boat 1 self-contained navigation is to unmanned landing pier 10, and reversing enters in limited impression 8.
S05: backing distance measured by range sensor 6, after meeting charging requirement, fixture 9 locks, and signal transmitting module 5 sends the occupied information of this unmanned landing pier 10 to other all unmanned boat.Unmanned landing pier 10 starts as unmanned boat 1 charges.After charging complete, fixture 9 unlocks, and unmanned boat 1 outputs limited impression 8, sails go back to working region and works on.
Claims (3)
1. based on a unmanned boat recharging system for wireless charging, it is characterized in that, comprise unmanned boat (1), unmanned landing pier (10), wireless charging module (3); Described wireless charging module (3) is based on electromagnetic induction principle, and its charging module transmitting terminal (3-1) is positioned on unmanned landing pier (10), is connected with alternating current 220V charging cable; Its charging module receiving terminal (3-2) is positioned at unmanned boat (1) afterbody, is connected with the power supply on unmanned boat (1).
2. the unmanned boat recharging system based on wireless charging according to claim 1, is characterized in that, described unmanned boat (1) is provided with GPS navigation module (2), and the afterbody of unmanned boat (1) is provided with charging module receiving terminal (3-2).
3. the unmanned boat recharging system based on wireless charging according to claim 1, it is characterized in that, described unmanned landing pier (10) comprises charging module transmitting terminal (3-1), control unit (4), signal emission module (5), range sensor (6), level measurement device (7), limited impression (8), fixture (9); Described charging module transmitting terminal (3-1) is positioned on the sidewall of unmanned landing pier (10), it adjusts highly as required, described range sensor (6) is positioned at the below of charging module transmitting terminal (3-1), for measure the transmitting terminal of wireless charging module (3) and receiving terminal distance; Described level measurement device (7) is positioned at the below of range sensor (6), contact with the water surface, measure the Real-time Water place value of this position, and regulate the height of charging module transmitting terminal (3-1) in real time, ensure to be in same level height with charging module receiving terminal (3-2) moment; Described signal emission module (5) and control unit (4) are arranged on unmanned landing pier (10) top; Described limited impression (8) is U-shaped, the motion that restriction unmanned boat (1) is horizontal; Described fixture (9), on two walls of limited impression (8), can be stretched, and blocks unmanned boat (1), limit the motion of its longitudinal direction when stretching out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510637017.2A CN105226778B (en) | 2015-10-03 | 2015-10-03 | Unmanned boat recharging system based on wireless charging |
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| CN201510637017.2A CN105226778B (en) | 2015-10-03 | 2015-10-03 | Unmanned boat recharging system based on wireless charging |
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| CN105226778A true CN105226778A (en) | 2016-01-06 |
| CN105226778B CN105226778B (en) | 2018-03-06 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444759A (en) * | 2016-09-29 | 2017-02-22 | 浙江嘉蓝海洋电子有限公司 | Automatic homeward voyaging method and automatic homeward voyaging system of unmanned boat |
| CN108473070A (en) * | 2016-01-25 | 2018-08-31 | Abb瑞士股份有限公司 | Supply of the electric energy to electrically driven ship |
| CN108482595A (en) * | 2018-03-14 | 2018-09-04 | 武汉理工大学 | The combined system and working method of floating marine generation platform and unmanned boat cluster |
| CN108482171A (en) * | 2018-05-21 | 2018-09-04 | 南通理工学院 | Marine wireless charging equipment, system and method |
| CN108501758A (en) * | 2018-05-10 | 2018-09-07 | 杭州快电新能源科技有限公司 | A kind of DC charging stationary point for stablizing output |
| CN109649197A (en) * | 2018-12-24 | 2019-04-19 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of the charging bank electricity system and charging method of large capacity electric ship |
| CN112224080A (en) * | 2020-09-18 | 2021-01-15 | 武汉理工大学 | Unmanned ship auxiliary berthing and charging method, device and system |
| CN113300493A (en) * | 2021-05-31 | 2021-08-24 | 桂林电子科技大学 | Magnetic coupling resonant wireless power transmission system based on electromagnetic metamaterial |
| CN114290920A (en) * | 2021-12-17 | 2022-04-08 | 中国人民解放军海军工程大学 | Wireless charging device and charging method for electric ship |
| CN116767463A (en) * | 2023-04-20 | 2023-09-19 | 北京大学 | Unmanned ship berthing dock and system and control method thereof |
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- 2015-10-03 CN CN201510637017.2A patent/CN105226778B/en not_active Expired - Fee Related
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| CN101927818A (en) * | 2009-06-18 | 2010-12-29 | 遵义师范学院 | Water life jacket with light-emitting device |
| CN103124108A (en) * | 2013-01-31 | 2013-05-29 | 天津大学 | Method and device for transmitting energy wirelessly by coherent light |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108473070A (en) * | 2016-01-25 | 2018-08-31 | Abb瑞士股份有限公司 | Supply of the electric energy to electrically driven ship |
| CN106444759A (en) * | 2016-09-29 | 2017-02-22 | 浙江嘉蓝海洋电子有限公司 | Automatic homeward voyaging method and automatic homeward voyaging system of unmanned boat |
| CN108482595A (en) * | 2018-03-14 | 2018-09-04 | 武汉理工大学 | The combined system and working method of floating marine generation platform and unmanned boat cluster |
| CN108501758A (en) * | 2018-05-10 | 2018-09-07 | 杭州快电新能源科技有限公司 | A kind of DC charging stationary point for stablizing output |
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| CN108482171A (en) * | 2018-05-21 | 2018-09-04 | 南通理工学院 | Marine wireless charging equipment, system and method |
| CN109649197A (en) * | 2018-12-24 | 2019-04-19 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of the charging bank electricity system and charging method of large capacity electric ship |
| CN112224080A (en) * | 2020-09-18 | 2021-01-15 | 武汉理工大学 | Unmanned ship auxiliary berthing and charging method, device and system |
| CN112224080B (en) * | 2020-09-18 | 2021-06-11 | 武汉理工大学 | Unmanned ship auxiliary berthing and charging method, device and system |
| CN113300493A (en) * | 2021-05-31 | 2021-08-24 | 桂林电子科技大学 | Magnetic coupling resonant wireless power transmission system based on electromagnetic metamaterial |
| CN113300493B (en) * | 2021-05-31 | 2022-11-01 | 桂林电子科技大学 | Magnetic coupling resonant wireless power transmission system based on electromagnetic metamaterial |
| CN114290920B (en) * | 2021-12-17 | 2023-07-04 | 中国人民解放军海军工程大学 | Wireless charging method for electric ship |
| CN114290920A (en) * | 2021-12-17 | 2022-04-08 | 中国人民解放军海军工程大学 | Wireless charging device and charging method for electric ship |
| CN116767463A (en) * | 2023-04-20 | 2023-09-19 | 北京大学 | Unmanned ship berthing dock and system and control method thereof |
| CN116767463B (en) * | 2023-04-20 | 2023-11-03 | 北京大学 | Unmanned ship berthing dock and system and control method thereof |
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| CN105226778B (en) | 2018-03-06 |
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