CN108408071A - Water pollution monitors system and method, monitoring system charge coil design method - Google Patents

Water pollution monitors system and method, monitoring system charge coil design method Download PDF

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Publication number
CN108408071A
CN108408071A CN201810099251.8A CN201810099251A CN108408071A CN 108408071 A CN108408071 A CN 108408071A CN 201810099251 A CN201810099251 A CN 201810099251A CN 108408071 A CN108408071 A CN 108408071A
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coil
unmanned plane
water pollution
unmanned
wireless charging
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张进峰
方晓靓
马伟皓
毛天宇
卢天赋
刘少勇
刘濮瑞
李凡
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F27/00—Details of transformers or inductances, in general
    • H01F27/28—Coils; Windings; Conductive connections
    • H01F27/2823—Wires
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F38/00—Adaptations of transformers or inductances for specific applications or functions
    • H01F38/14—Inductive couplings
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
    • H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
    • H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
    • H01F41/06—Coil winding
    • H01F41/064—Winding non-flat conductive wires, e.g. rods, cables or cords
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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Abstract

A kind of water pollution monitoring system and method for present invention offer, monitoring system wireless charge coil design method, unmanned boat carries the platform with wireless charging function transports to monitoring waters by UAV system, unmanned plane monitors waters ship emission behaviour, and unmanned plane electricity can be charged on unmanned boat using wireless charging system after exhausting.The system has given full play to the advantages such as visual angle is wide of unmanned plane, and unmanned boat is used to be energized for unmanned plane as carrying platform, the cruising range of unmanned plane is expanded, related waters can be fast and effeciently supervised, there is certain practical value and important social effect.

Description

Water pollution monitors system and method, monitoring system charge coil design method
Technical field
The present invention relates to water transportation transport fields, and in particular to a kind of water pollution monitoring system and method, monitoring system System Wireless charging coil design method can be applied to the monitoring to waters oily wastewater, such as ship discharge greasy dirt region.
Background technology
With the continuous growth of Worldwide Shipping volume of trade, ships quantity is also being continuously increased, conventional dirty so as to cause ship Dye object vessel sewage, ship garbage, marine exhaust etc. are also continuously increased.Wherein vessel oily water is especially tight to the pollution of water quality Weight, in this regard, International Maritime Organization has also put into effect various laws, regulation to prevent the discharge wantonly of vessel oily water, but at present Oil discharge monitoring equipment and measures for the supervision it is not perfect, it is difficult to find in time, and then quickly remove oily wastewater, compel to be essential at present Want a kind of flexible, rapid effective scheme to find that damage of oil pollution from ships discharges as early as possible.
Aerial survey of unmanned aerial vehicle remote sensing technology is distant after satellite remote sensing, the novel aviation to grow up after big aircraft remote sensing Sense technology, have broad view, efficiently quickly, fine accurate, operating cost is low, visual results, the applied widely, production cycle The features such as short, can obtain the image document of required monitoring area in real time.However, there are short etc. ask cruise duration for unmanned plane at present Topic, seriously limits its cruising range.
Unmanned water surface ship is a kind of unpiloted surface ship, different from common water surface ship, is not needed on unmanned boat Any equipment related with driver is installed, can be effectively saved and loads application apparatus using space to complete to assign its Various tasks.
Invention content
It is an object of the present invention to provide a kind of water pollutions to monitor system, and unmanned boat, which carries, has wireless charging electric work UAV system is transported to monitoring waters by the platform of energy, and unmanned plane monitors waters ship emission behaviour, and unmanned plane electricity can after exhausting It is charged using wireless charging system on unmanned boat.The system has given full play to the advantages such as visual angle is wide of unmanned plane, and uses Unmanned boat is energized as carrying platform for unmanned plane, is expanded the cruising range of unmanned plane, can fast and effeciently be supervised correlation Waters has certain practical value and important social effect.
To achieve the goals above, its technical solution is that：
A kind of water pollution object monitoring system, including unmanned boat, control terminal and the unmanned plane of unmanned plane, carrying unmanned plane fill Electric installation；
The unmanned plane includes image acquisition unit, the first positioning unit and the first transmission unit, and described image obtains single Member obtains the image in monitoring waters, and first positioning unit for being positioned to unmanned plane, use by first transmission unit In described image information and unmanned plane location information are transferred to the control terminal；
The unmanned boat includes the second positioning unit, the second transmission unit and carries the unmanned plane and charge to unmanned plane Carrying platform, for being positioned to the unmanned boat, second transmission unit is used for institute second positioning unit The location information for stating unmanned boat is transferred to the control terminal；
The described image that the control terminal obtains unmanned plane is analyzed to search out water pollution object area, and according to The location information of the unmanned plane and the unmanned boat controls the position of the unmanned plane and the unmanned boat, and controls nobody Landing of the machine on the carrying platform；
The unmanned plane charging unit includes the charging circuit being set on the carrying platform, and is set to the nothing Charging receiving circuit on man-machine.
System is monitored in above-mentioned water pollution object, the charging circuit includes sequentially connected accumulator, boosting Module and wireless charging sending device；The charging receiving circuit includes sequentially connected wireless charging receiver, rectification mould Block, power voltage step down charge management module and unmanned plane supplying cell.
System is monitored in above-mentioned water pollution object, the carrying platform of the unmanned boat is equipped with the detection unmanned plane and The detection unit of warship, the detection unit detects starts the unmanned plane charging unit after the unmanned plane warship.
System is monitored in above-mentioned water pollution object, the detection unit is varistor.
In above-mentioned water pollution object monitoring system, the coil of wireless charging sending device and wireless charging receiver is equal Using planar spiral winding.
System, the mean radius r of the coil are monitored in above-mentioned water pollution objectavg=0.1~1m, the number of turns N=1~ 15。
System, the mean radius r of the coil are monitored in above-mentioned water pollution objectavg=0.5m, the number of turns N=6.
System is monitored in above-mentioned water pollution object, coil and the wireless charging of the wireless charging sending device connect The distance between coil of receiving apparatus is 4cm.
Another object of the present invention is to provide a kind of water pollution object monitoring method based on above-mentioned monitoring system, including with Lower step：
Step 1：The image acquisition unit of unmanned plane obtains the image of water pollution object, and described image is transferred to control End；
Step 2：The textural characteristics construction feature vector of the control terminal extraction described image；
Step 3：Divide the described image obtained into the matrix image of n × m, the value range of n and m are [8,16]；
Step 4：Calculate the feature vector of each small images after dividing；
Step 5：The feature vector for exporting sample image trains artificial neural network；
Step 6：The feature vector that unmanned plane is transmitted to image inputs trained artificial neural network, determines contaminated area Domain.
It is another object of the present invention to provide a kind of design methods of unmanned plane Wireless charging coil, to obtain higher Efficiency of transmission, include the following steps：
Step 1：The magnet coupled resonant type theoretical model of wireless charging system is established, which includes being sequentially connected composition hair It is emitted back towards the power supply U on roadS, resistance R1, transmitting coil and capacitance C1, and it is sequentially connected the equivalent load R for constituting and receiving circuitL, electricity Hinder R2, receiving coil and capacitance C2；And establish the KVL equations of the model：
In formula：I1To flow through the electric current of launching circuit coil, I2Respectively flow through the electric current for receiving circuit coil；Z1, Z2Point Wei it not emit, the self-impedance of receiving coil loop,Indicate that imaginary part, ω are Transmission system angular frequency, M is between coil Mutual inductance.
Step 2：Establish parametric equation
ravg=0.5 (Dmax+Dmin)
Dmax=(N-1) × S+N × W+Dmin
In formula, ravgFor coil mean radius, DmaxFor the maximum outside diameter of coil, DminIt is straight for the minimum outer circle of coil Diameter, S are coil turn spacing, and W is winding wire diameter, and N is the number of turns of coil, and β is coil filling rate.
Step 3：Establish coil parameter and the relation equation of charge efficiency
In formula：D is the distance between two coils, and R is the equivalent internal resistance of coil, and η is efficiency of transmission, μ0For dielectric constant, M Mutual inductance between coil.
Step 4：According to the equation that step 2) and step 3) are established, emulation experiment is carried out using matlab softwares, determines line Enclose parameter.
Beneficial effects of the present invention are：
1. the united water pollution of this unmanned plane, unmanned boat monitors system, unmanned plane is prolonged by unmanned boat wireless power The cruise duration of unmanned plane has been grown, cruising range is expanded, can be applied not only to judge ship discharge greasy dirt region, it may also be used for Judge the discharge of the crude oil leakage and rivers and lakes pollutant of offshore oilfield；
2. UAV flight's synthetic aperture radar obtains SAR image, Polluted area is judged, quickly and effectively；
3. utilizing artificial neural network algorithm Automatic-searching Polluted area, reduce the workload of personnel；
4. Wireless charging coil carries out design of Simulation for unmanned plane, charge efficiency is improved.
Description of the drawings
Fig. 1 is the design sketch in present invention monitoring waters.
Fig. 2 is the SAR image that unmanned plane of the present invention obtains.
Fig. 3 is the Pollution From Ships discharge areas picture that bank base control terminal of the present invention is determined by SAR image.
Fig. 4 is the theoretical model figure of wireless charging of the present invention.
Fig. 5 is the structure chart of wireless charging reception/transmitting coil of the present invention.
Fig. 6 is the simulation result diagram of Wireless charging coil of the present invention.
Fig. 7 is the simulation result diagram of Wireless charging coil spacing of the present invention.
1- unmanned planes in figure, 2- unmanned boats, 3- Pollution From Ships discharge areas, 4- antennas, 5- control terminals.
Specific implementation mode
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, a kind of water pollution object monitors system, including unmanned plane 1, the unmanned boat 2 for carrying unmanned plane 1, control End 5 processed and unmanned plane charging unit.
Unmanned plane 1 includes image acquisition unit, the first positioning unit and the first transmission unit, and image acquisition unit obtains prison The image in waters is surveyed, for being positioned to unmanned plane 1, the first transmission unit is used for image information and nothing the first positioning unit Man-machine 1 location information is transferred to signal transmitting and receiving antenna 4, and signal transmitting and receiving antenna 4 transfers information to control terminal 5.Wherein, unmanned plane The rotor wing unmanned aerial vehicle for capableing of VTOL can be used, and the energy of 11.2V, 5000mAh lithium battery as system, image can be used Small-sized synthetic aperture radar can be used in acquiring unit, and synthetic aperture radar obtains SAR image.
Unmanned boat 2 includes the second positioning unit, the second transmission unit and carries unmanned plane 1 and taken to what unmanned plane 1 charged Carrying platform, for being positioned to unmanned boat 2, the second transmission unit is used for the location information of unmanned boat 2 the second positioning unit It is transferred to control terminal 5.
The image that control terminal 5 obtains unmanned plane 1 is analyzed to search out water pollution object area 3, and according to nobody The location information of machine 1 and unmanned boat 2 sends out the position of instruction control unmanned plane 1 and unmanned boat 2 by signal transmitting and receiving antenna 4, with And landing of the control unmanned plane 1 on carrying platform.
Unmanned plane charging unit includes the charging circuit being set on carrying platform, and filling on unmanned plane 1 Electric receiving circuit.
Wherein, the method being monitored to water pollution object using above system, is included the following steps：
Step 1：The image acquisition unit of unmanned plane obtains the SAR image of water pollution object as shown in Figure 2, and image is passed It is defeated to arrive control terminal.
Step 2：Control terminal extracts the textural characteristics construction features vector of image, feature vector include variance, contrast, Entropy, angular second moment battle array and consistency, the expression formula of each feature vector are as follows：
Variance：F=∑si,j(i-u)2×Pi,j
Contrast：Con=∑si,j(i-j)2×Pi,j
Entropy：Ent=∑si,jPi,j/logPi,j
Angular second moment battle array：Asm=∑si,j(Pi,j)2
Consistency：Hom=∑si,jPi,j/[1+(i-j)]2
Wherein, Pi,jIt is the color value of i-th of Color Channel of j-th of pixel, u is the single order face in i-th of Color Channel Colour moment.
Step 3：Divide the image obtained into the matrix image of n × m, the value range of n and m are [8,16].
Step 4：Calculate the feature vector of each small images after dividing.
Step 5：The feature vector for exporting sample image trains artificial neural network, artificial neural network algorithm can be directly sharp It is built with the Neuroph neural network frameworks based on Java.
Step 6：The feature vector that unmanned plane is transmitted to image inputs trained artificial neural network, determines that ship discharges Greasy dirt region, handling result are as shown in Figure 3.
In a kind of preferred scheme, unmanned plane charging unit uses wireless charging system.Charging circuit include according to Accumulator, boost module and the wireless charging sending device of secondary connection；The receiving circuit that charges includes sequentially connected wireless charging Reception device, rectification module, power voltage step down charge management module and unmanned plane supplying cell.
Using with high stability, high-precision special integrated adjustable boost chip forms boost module, will input electric power storage The small voltage boosting of pond output, rises to the input voltage requirement for meeting wireless charging sending device.Wireless charging sending device can DC voltage is converted to by the big voltage of input by the DC-AC ac-dc converter circuits being internally integrated and meets coil transmission The alternating voltage of specific frequency is sent in the form of field electric energy by coil antenna.Wireless charging receiver can be by coil After alternating voltage is converted to satisfaction by the alternating voltage that antenna induction generates by the AC-DC ac-dc converter circuits being internally integrated Level power supply is depressured the DC voltage of charge management module input requirements.
When unmanned plane electricity exhausts, unmanned plane is returned by GPS positioning near unmanned boat, and then unmanned plane passes through camera shooting Head calibration landing place, drops on UAV flight's platform of unmanned boat, wireless charging system starts, and accumulator can be by electric energy Boost module is inputted, input voltage is increased to voltage, nothing required by meeting the transmitting portion of wireless charging device by boost module Direct current inside inputting is converted to alternating current and is sent to the external world by coil antenna with specific frequency by micro USB electricity sending device Environment forms induction field, and the rectified module of alternating current is formed after the coil antenna induction field of wireless charging receiver Direct current electricity output is formed, output termination power voltage step down charge management module, electric energy flows into unmanned plane battery after decompression, to reach To the cruise duration for extending unmanned plane, expand the purpose of cruising range.
To reduce unmanned plane not unnecessary energy consumption when on unmanned boat, it is equipped on the airplane parking area of unmanned boat and detects nobody Machine the detection unit of warship, and detection unit detects starts charging unit after unmanned plane warship.Detection unit may be used pressure-sensitive Resistance.
Unmanned boat is powered by wireless charging system for unmanned plane, and the cruise duration of unmanned plane is extended, and expands cruising range, In view of wireless charging system on the market is mainly for mobile phone, the charging requirement of unmanned plane is not achieved in power, wireless charging Charge efficiency is influenced very greatly by coil turn, internal coil diameter, coil outer diameter and coil-span, in the specified charge power of unmanned plane Under the premise of, larger charge efficiency is obtained, the present invention devises mating Wireless charging coil.
Common loop construction type has：Planar spiral-type and cylindrical screw cast.Wherein, the coupling of planar spiral winding Coefficient and quality factor are all higher, are more suitable for wireless power transmission, and planar spiral winding is placed in below chassis more It is convenient, so the present invention uses planar spiral winding.
Coil turn, average diameter and coil-span are used in combination matlab simulation softwares to be imitated by establishing parametric equation It is exact to determine the decision of optimal index parameter, it is as follows：
Step 1：Establish the magnet coupled resonant type theoretical model of wireless charging system as shown in Figure 4, the model include according to The secondary power supply U for connecting and composing launching circuitS, resistance R1, transmitting coil and capacitance C1, and be sequentially connected to constitute and receive circuit Equivalent load RL, resistance R2, receiving coil and capacitance C2；And establish the KVL equations of the model：
In formula：I1To flow through the electric current of launching circuit coil, I2Respectively flow through the electric current for receiving circuit coil；Z1, Z2Point Wei it not emit, the self-impedance of receiving coil loop,Indicate that imaginary part, ω are Transmission system angular frequency, M is between coil Mutual inductance.
Step 2：Establish parametric equation
ravg=0.5 (Dmax+Dmin)
Dmax=(N-1) × S+N × W+Dmin
In formula, coil parameter is as shown in figure 5, ravgFor coil mean radius, DmaxFor the maximum outside diameter of coil, Dmin For the minimum outside diameter of coil, S is coil turn spacing, and W is winding wire diameter, and N is the number of turns of coil, and β fills for coil Rate.
Step 3：Establish coil parameter and the relation equation of charge efficiency
In formula：D is the distance between two coils, and R is the equivalent internal resistance of coil, and η is efficiency of transmission, μ0For dielectric constant, M Mutual inductance between coil.
Step 4：According to the equation that step 2) and step 3) are established, launching circuit coil accesses frequency f=0.5MHz, voltage The power supply of Us=36V chooses copper wire as material, coil winding wire under conditions of two coil-spans are from D=0.02m Diameter takes 1mm, the long 1m wide 1m of flat roof area to take r according to the maximum current value that conducting wire can bearavg=0.1~1m, N=1~15, Emulation experiment is carried out using matlab softwares, determines turn number N, coil mean radius ravgWith transmitting coil and receiving coil Spacing.
The experimental result finally obtained is：When turn number N=6, ravgWhen=0.7m, efficiency of transmission is up to 59.3%, But in view of unmanned plane and platform size limit；Select N=6, ravgThe coil parameter of=0.5m, efficiency of transmission is 57% at this time, Actual test result is 45.3%.
Using testing process circuit, by change coil-span from, obtain charge efficiency such as Fig. 7 under different distance, according to Fig. 7 it is found that when coil-span from for 4cm when, charge efficiency highest.

Claims (10)

1. a kind of water pollution object monitors system, which is characterized in that including unmanned plane, the unmanned boat for carrying unmanned plane, control terminal With unmanned plane charging unit；
The unmanned plane includes image acquisition unit, the first positioning unit and the first transmission unit, and described image acquiring unit obtains The image in monitoring waters is taken, for first positioning unit for being positioned to unmanned plane, first transmission unit is used for will Described image information and unmanned plane location information are transferred to the control terminal；
The unmanned boat includes the second positioning unit, the second transmission unit and carries the unmanned plane and taken to what unmanned plane charged Carrying platform, for being positioned to the unmanned boat, second transmission unit is used for the nothing second positioning unit The location information of people's ship is transferred to the control terminal；
The described image that the control terminal obtains unmanned plane is analyzed to search out water pollution object area, and according to described The location information of unmanned plane and the unmanned boat controls the position of the unmanned plane and the unmanned boat, and control unmanned plane exists Landing on the carrying platform；
The unmanned plane charging unit includes the charging circuit being set on the carrying platform, and is set to the unmanned plane On charging receiving circuit.
2. water pollution object according to claim 1 monitors system, which is characterized in that the charging circuit include according to Accumulator, boost module and the wireless charging sending device of secondary connection；The charging receiving circuit includes sequentially connected wireless Charging receiver, rectification module, power voltage step down charge management module and unmanned plane supplying cell.
3. water pollution object according to claim 1 monitors system, which is characterized in that on the carrying platform of the unmanned boat The detection unit of warship equipped with the detection unmanned plane, the detection unit detects starts the nothing after the unmanned plane warship Man-machine charging unit.
4. water pollution object according to claim 3 monitors system, which is characterized in that the detection unit is pressure-sensitive electricity Resistance.
5. water pollution object according to claim 2 monitors system, which is characterized in that wireless charging sending device and wireless The coil of charging receiver is all made of planar spiral winding.
6. water pollution object according to claim 5 monitors system, which is characterized in that the mean radius r of the coilavg =0.1~1m, the number of turns N=1~15.
7. water pollution object according to claim 5 monitors system, which is characterized in that the mean radius r of the coilavg =0.5m, the number of turns N=6.
8. water pollution object according to claim 5 monitors system, which is characterized in that the wireless charging sending device The distance between coil and the coil of the wireless charging receiver are 4cm.
9. a kind of method being monitored to water pollution object using the system as described in claim any one of 1-8, feature are existed In including the following steps：
Step 1：The image acquisition unit of unmanned plane obtains the image of water pollution object, and described image is transferred to control terminal；
Step 2：The textural characteristics construction feature vector of the control terminal extraction described image；
Step 3：Divide the described image obtained into the matrix image of n × m, the value range of n and m are [8,16]；
Step 4：Calculate the feature vector of each small images after dividing；
Step 5：The feature vector for exporting sample image trains artificial neural network；
Step 6：The feature vector that unmanned plane is transmitted to image inputs trained artificial neural network, determines Polluted area.
10. a kind of design method of Wireless charging coil, which is characterized in that include the following steps：
Step 1：The magnet coupled resonant type theoretical model of wireless charging system is established, which includes being sequentially connected composition to be transmitted back to The power supply U on roadS, resistance R1, transmitting coil and capacitance C1, and it is sequentially connected the equivalent load R for constituting and receiving circuitL, resistance R2、 Receiving coil and capacitance C2, and establish the KVL equations of the model：
In formula：I1To flow through the electric current of launching circuit coil, I2To flow through the electric current for receiving circuit coil；Z1, Z2Respectively emit, The self-impedance of receiving coil loop,Indicate that imaginary part, ω are Transmission system angular frequency, mutual inductances of the M between coil；
Step 2：Establish parametric equation
ravg=0.5 (Dmax+Dmin)
Dmax=(N-1) × S+N × W+Dmin
In formula, ravgFor coil mean radius, DmaxFor the maximum outside diameter of coil, DminFor the minimum outside diameter of coil, S For coil turn spacing, W is winding wire diameter, and N is the number of turns of coil, and β is coil filling rate；
Step 3：Establish coil parameter and the relation equation of charge efficiency
In formula：D is the distance between two coils, and R is the equivalent internal resistance of coil, and η is efficiency of transmission, μ0For dielectric constant, M is line Mutual inductance between circle；
Step 4：According to the equation that step 2) and step 3) are established, emulation experiment is carried out using matlab softwares, determines that coil is joined Number.
CN201810099251.8A 2018-01-31 2018-01-31 Water pollution monitors system and method, monitoring system charge coil design method Pending CN108408071A (en)

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