CN109713803A - A kind of water surface robot wireless charging device - Google Patents
A kind of water surface robot wireless charging device Download PDFInfo
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- CN109713803A CN109713803A CN201910214964.9A CN201910214964A CN109713803A CN 109713803 A CN109713803 A CN 109713803A CN 201910214964 A CN201910214964 A CN 201910214964A CN 109713803 A CN109713803 A CN 109713803A
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Abstract
The invention discloses a kind of water surface robot wireless charging devices, power supply converter is power supply main controller, inverter circuit and powers for power detection circuit, inverter circuit includes inversion isolation module and is made of 4 SiCMOSFET full-bridge circuits, the output connection primary coil and coupler of inverter circuit, wireless energy transfer is carried out for equipment cavity, for voltage, electric current and the temperature of power detection circuit detection inverter circuit, power supply main controller is fed back to；Equipment power adapter is equipment main controller, voltage regulator circuit and the power supply of equipment detection circuit, after secondary coil and coupler receive the energy of primary coil and coupler transfer, output is load charging after rectified bridge and voltage regulator circuit, equipment detection circuit detects voltage, electric current and the operating temperature of voltage regulator circuit output, feeds back to equipment main controller.The present invention realizes contactless power transfer, and high efficiency inverter circuit improves charge efficiency.
Description
Technical field
The invention belongs to electronic circuit fields, are related to a kind of water surface robot wireless charging device.
Background technique
Ocean is huge resource treasure-house, and under the land resources increasingly situation of failure, the space of ocean and resource have
It is biggish can potentiality to be exploited.Underwater robot be among an important ring.Underwater equipment works normally, it is necessary first to stable electricity
Source solves electric energy supply problem.Traditional contact electric energy transmission, equipment room are connected by conducting wire, repeatedly have wire insertion to water
The waterproofness and airtightness of lower robot interface damages, when needing to put into a large amount of to the structural maintenance of underwater robot
Between.The application of wireless charging gives these aspects (sealing structure, waterproof, maintenance) of underwater robot and greatly helps and change
It is kind, conducive to the development of underwater robot industry.
Underwater equipment electric energy supply mode is generally divided into contact power supply and self-tolerant power supply.The transmission mode of modern electric energy
Based on mainly being powered with contact, if inevitable using having the shortcomings that if under water: contact head is unreliable, is easy to be corroded and break
Line；Mutually on-insulated between each equipment, the failure of an equipment will lead to the failure of whole system；The intensity of electric wire is low,
It is easily broken off under the washing away of seawater；Joint location is fixed, and deployed with devices position is not flexible.Although self-tolerant power supply gets rid of contact
The shortcomings that conducting wire electric energy transmission mode is encountered under briny environment in formula power supply, underwater sensing system relies on self-contained electricity
Pond work.In order to guarantee that underwater sensor has sufficiently long working life, the volume and weight of the battery of carrying is larger, accounts for
According to a large amount of equipment inner space, the volume and power consumption of internal primary electronic device are limited, it is also necessary to artificial to salvage replacement electricity
Pond generates additional maintenance cost.
Summary of the invention
To solve the above problems, the technical solution of the present invention is as follows: a kind of water surface robot wireless charging device,
Including power supply cavity and equipment cavity, wherein
The power supply cavity include power supply converter, power supply main controller, inverter circuit, primary coil and coupler and
For power detection circuit, power supply converter is power supply main controller, inverter circuit and powers for power detection circuit, inverter circuit packet
It includes inversion isolation module and is made of 4 SiCMOSFET full-bridge circuits, the output connection primary coil of inverter circuit and coupling
Device carries out wireless energy transfer for equipment cavity, for voltage, electric current and the temperature of power detection circuit detection inverter circuit, feedback
Give power supply main controller；
The equipment cavity include equipment power adapter, equipment main controller, rectifier bridge, voltage regulator circuit, secondary coil and
Coupler and equipment detection circuit, equipment power adapter is that equipment main controller, voltage regulator circuit and equipment detection circuit are powered, secondary
After grade coil and coupler receive the energy of primary coil and coupler transfer, output is load after rectified bridge and voltage regulator circuit
Charging, equipment detection circuit detect voltage, electric current and the operating temperature of voltage regulator circuit output, feed back to equipment main controller.
Preferably, the power supply main controller and equipment main controller include STM32F107VCT6.
Preferably, the power supply converter and equipment power adapter include TPS5430 chip, and 24V is switched to
12V and 5V.
Preferably, the power supply converter and equipment power adapter include AMS1117-3.3 chip, and 5V is turned
For 3.3V.
Preferably, the power supply converter and equipment power adapter include REF5030 chip, and 5V is switched to
3V。
Preferably, the inversion isolation module includes si8273 isolator, by 4 road pwm signals of main controller output of powering
It controls and forms isolation between 4 SiCMOSFET of full-bridge.
Preferably, the rectifier bridge includes D4SBL40.
Preferably, described for power detection circuit and equipment detection circuit includes WBV342D01 direct current voltage sensor, right
DC voltage real-time measurement in circuit.
Preferably, it is described for power detection circuit and equipment detection circuit include ACS722 high precision electric isolation electric current pass
Sensor, to the electric current real-time measurement in circuit.
Preferably, described for power detection circuit and equipment detection circuit includes MLX90614 infrared sensing thermometer, right
The temperature real-time measurement of circuit.
Compared with prior art, beneficial effects of the present invention are as follows:
External offer DC power supply of the invention, which is high-frequency alternating current by high-frequency inverter, will be high
Frequency alternating current is injected into the primary side of inductively transformer, by faraday electromagnetic induction principle it is found that the alternating current of high frequency is online
Magnetic linkage is generated in circle to interlink with secondary coil, induced electromotive force is generated in secondary coil, which is still that high frequency is handed over
Galvanic electricity.The direct current energy for being adapted to robot charging is translated by rectification filtering module and pressure stabilizing adjustment module.Entirely
System ensure that the normal charging work of water surface robot, and the operational data of charging equipment can also be with feedback to the computer, computer prison
Survey the DC voltage, DC current and cavity temperature of feeder ear cavity and equipment end inside cavity.At least have beneficial below
Effect:
1. non-contact power, sealing structure, when charging, connects without conducting wire, overcomes the influence of underwater environment, reduces battery
Recycle the cost of replacement；
2. reaching coefficient of coup optimization according to the coupler that water surface robot structure designs, improving electric energy efficiency of transmission；
3. using SIC MOSFET New Type Power Devices, response is fast, high-efficient, power is big；
4. high-performance MCU built in, can real-time monitoring temperature, electric current, voltage.
Detailed description of the invention
Fig. 1 is the structural block diagram of the water surface robot wireless charging device of the specific embodiment of the invention；
Fig. 2 is power supply/equipment main controller circuit of the water surface robot wireless charging device of the specific embodiment of the invention
Schematic diagram；
Fig. 3 is power supply/equipment power adapter of the water surface robot wireless charging device of the specific embodiment of the invention
24V turns 12V circuit diagram；
Fig. 4 is power supply/equipment power adapter of the water surface robot wireless charging device of the specific embodiment of the invention
24V turns 5V circuit diagram；
Fig. 5 is power supply/equipment power adapter of the water surface robot wireless charging device of the specific embodiment of the invention
5V turns 3.3V circuit diagram；
Fig. 6 is power supply/equipment power adapter of the water surface robot wireless charging device of the specific embodiment of the invention
5V turns 3V circuit diagram；
Fig. 7 is the inverter circuit schematic diagram of the water surface robot wireless charging device of the specific embodiment of the invention；
Fig. 8 is the rectifier circuit schematic diagram of the water surface robot wireless charging device of the specific embodiment of the invention；
Fig. 9 is detecting for power detection circuit/equipment for the water surface robot wireless charging device of the specific embodiment of the invention
The voltage detecting circuit schematic diagram of circuit；
Figure 10 is detecting for power detection circuit/equipment for the water surface robot wireless charging device of the specific embodiment of the invention
The current detection circuit schematic diagram of circuit；
Figure 11 is detecting for power detection circuit/equipment for the water surface robot wireless charging device of the specific embodiment of the invention
The temperature sensing circuit schematic diagram of circuit；
Figure 12 is the coupler structure schematic diagram of the water surface robot wireless charging device of the specific embodiment of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
On the contrary, the present invention covers any substitution done on the essence and scope of the present invention being defined by the claims, repairs
Change, equivalent method and scheme.Further, in order to make the public have a better understanding the present invention, below to of the invention thin
It is detailed to describe some specific detail sections in section description.Part without these details for a person skilled in the art
The present invention can also be understood completely in description.
Referring to Fig. 1-12, including power supply cavity 10 and equipment cavity 20, wherein the power supply cavity 10 includes power supply
Converter 11, power supply main controller 12, inverter circuit 13, primary coil and coupler 14 and for power detection circuit 15, power supply
Converter 11 is power supply main controller 12, inverter circuit 13 and powers for power detection circuit 15 that inverter circuit 13 is isolated including inversion
It module 131 and is made of 4 SiCMOSFET full-bridge circuits, the output connection primary coil and coupler 14 of inverter circuit 13 are
Equipment cavity 20 carries out wireless energy transfer, and voltage, electric current and the temperature of inverter circuit 13, feedback are detected for power detection circuit 15
Give power supply main controller 12；
The equipment cavity 20 include equipment power adapter 21, equipment main controller 22, rectifier bridge 23, voltage regulator circuit 24,
Secondary coil and coupler 25 and equipment detection circuit 26, equipment power adapter 21 are equipment main controller 22, voltage regulator circuit 24
It powers with equipment detection circuit 26, after the energy that secondary coil and the reception primary coil of coupler 25 and coupler 14 transmit, warp
It exports after rectifier bridge 23 and voltage regulator circuit 24 and charges for load, the voltage of the detection output of voltage regulator circuit 24 of equipment detection circuit 26,
Electric current and operating temperature feed back to equipment main controller 22.
By above-mentioned setting, based on the principle of inductively contactless power transfer, realize feeder ear and equipment end into
The transmission of row contact-less power, the electric energy that the secondary coil of equipment end generates the primary coil of feeder ear carry out conversion process pair
Water surface robot charging.Whole system ensure that the normal charging work of water surface robot, and the operational data of charging equipment can also
To feed back to the end PC 30, the end PC 30 monitors DC voltage, DC current and the chamber inside power supply cavity 10 and equipment cavity 20
Interior temperature.
Main controller 12 and 22 specific embodiment of equipment main controller power referring to fig. 2, using STM32F107VCT6 as core,
3.3v working power, 25MHz crystal oscillator generate frequency of oscillation, provide stable clock signal, periphery electricity for single-chip microcontroller normal work
Road capacitor parallel filtering, PA13, PA14 pin are set as SWDIO (string line input/output), SWCLK (string line clock), use
In downloading program, PA8, PA9, PB13, PB14 are for generating 4 road PWM drive signals.D1, D2 display lamp, just whether detection chip
Often work.
Power supply converter 11 and 21 specific embodiment of equipment power adapter turn 5V and 24V with 24V referring to Fig. 3-6
TPS5430 chip, the 5V for turning 12V turn the AMS1117-3.3 chip of 3.3V and 5V turns the REF5030 chip of 3V, and decompression respectively is
12V, 5V, 3.3V and 3V are respectively used to operating voltage required for main control chip, inverter circuit 13.
For 13 specific embodiment of inverter circuit referring to Fig. 7, use is high-power, low-power consumption, high efficiency, resistant to high temperature novel
The full bridge inverter 13 of SiCMOSFET design, is high-frequency alternating current by DC inverter, and high-frequency alternating current is mainly used for primary
Coil, secondary coil generate induced electromotive force after power conversion circuit for load equipment under electromagnetic field effect.Driving
Chip selects binary channels Si8273 isolator, and the 4 road PWM that master control generates control 4 of full-bridge as driving signal
SiCMOSFET power device being opened and turning off.Si8273 is internally integrated isolator, and governor circuit and inverter circuit 13 is isolated,
It avoids directly being electrically connected.
23 specific embodiment of rectifier bridge is referring to Fig. 8,23 model D4SBL40 of rectifier bridge, 23 highest pressure resistance 400V of the rectifier bridge,
Reverse recovery time is extremely short, forward conduction voltage drop is low, and 120uF bulky capacitor filters to filter out the ripple of DC source generation, the guarantor of 3A
Dangerous silk shields to entire circuit.Voltage regulator circuit 24 uses DC-DC pressure stabilizing adjustable module, exports 12.6V voltage to the water surface
Robot charging.
For power detection circuit 15 and 26 specific embodiment of equipment detection circuit referring to Fig. 9-11, measure voltage & current is selected
Current sensor IC is isolated in WBV342D01 direct current voltage sensor and ACS722 high precision electric.To in circuit DC voltage,
Electric current and temperature carry out real-time measurement, transform it into DC voltage (Uz), electric current (VIOUT) output, voltage and the electricity of standard
Stream is shown to user by main control chip A D conversion process.Figure 10 temperature detection selects MLX90614 infrared sensing thermometer,
MLX90614 is integrated with infrared induction thermopile detector chip and signal processing special integrated chip, can get high-precision temperature
Degree evidence.Pass through voltage, electric current and temperature detection, real-time monitoring water surface robot charged state.
For coupler specific embodiment referring to Figure 12, coupler is the key component for realizing electric energy transmission, realizes electric energy from confession
Electric end is to the wireless transmission of load end, and the design is using the cylindric coupling with pot magnetic core for being suitble to water surface robot structure
Device, coil winding 1, coil interface 2, magnetic core putting hole 3, magnetic core are uniformly and symmetrically distributed the raising electromagnetic transmission among coil
Energy.For cylindrical-shaped structure convenient for being encapsulated in the pressure-resistant cavity of sealing, core material selects PC40, magnetic conductivity 2300, has good
Electric conductivity.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of water surface robot wireless charging device, which is characterized in that including power supply cavity and equipment cavity, wherein
The power supply cavity includes power supply converter, power supply main controller, inverter circuit, primary coil and coupler and power supply
Detection circuit, power supply converter are power supply main controller, inverter circuit and power for power detection circuit that inverter circuit includes inverse
Become isolation module and be made of 4 SiCMOSFET full-bridge circuits, the output connection primary coil and coupler of inverter circuit are
Equipment cavity carries out wireless energy transfer, for voltage, electric current and the temperature of power detection circuit detection inverter circuit, feeds back to power supply
Main controller；
The equipment cavity includes equipment power adapter, equipment main controller, rectifier bridge, voltage regulator circuit, secondary coil and coupling
Device and equipment detection circuit, equipment power adapter are equipment main controller, voltage regulator circuit and the power supply of equipment detection circuit, secondary wire
After circle and coupler receive the energy of primary coil and coupler transfer, output is filled after rectified bridge and voltage regulator circuit for load
Electricity, equipment detection circuit detect voltage, electric current and the operating temperature of voltage regulator circuit output, feed back to equipment main controller.
2. the apparatus according to claim 1, which is characterized in that the power supply main controller and equipment main controller include
STM32F107VCT6。
3. the apparatus according to claim 1, which is characterized in that the power supply converter and equipment power adapter are equal
Including TPS5430 chip, 24V is switched into 12V and 5V.
4. the apparatus according to claim 1, which is characterized in that the power supply converter and equipment power adapter are equal
Including AMS1117-3.3 chip, 5V is switched into 3.3V.
5. the apparatus according to claim 1, which is characterized in that the power supply converter and equipment power adapter are equal
Including REF5030 chip, 5V is switched into 3V.
6. the apparatus according to claim 1, which is characterized in that the inversion isolation module includes si8273 isolator, will
Isolation is formed between 4 SiCMOSFET of the 4 road pwm signals control full-bridge that main controller of powering exports.
7. the apparatus according to claim 1, which is characterized in that the rectifier bridge includes D4SBL40.
8. the apparatus according to claim 1, which is characterized in that described to include for power detection circuit and equipment detection circuit
WBV342D01 direct current voltage sensor, to the DC voltage real-time measurement in circuit.
9. the apparatus according to claim 1, which is characterized in that described to include for power detection circuit and equipment detection circuit
Current sensor is isolated in ACS722 high precision electric, to the electric current real-time measurement in circuit.
10. the apparatus according to claim 1, which is characterized in that described to be wrapped for power detection circuit and equipment detection circuit
MLX90614 infrared sensing thermometer is included, to the temperature real-time measurement of circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910214964.9A CN109713803A (en) | 2019-03-21 | 2019-03-21 | A kind of water surface robot wireless charging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910214964.9A CN109713803A (en) | 2019-03-21 | 2019-03-21 | A kind of water surface robot wireless charging device |
Publications (1)
| Publication Number | Publication Date |
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| CN109713803A true CN109713803A (en) | 2019-05-03 |
Family
ID=66267003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910214964.9A Pending CN109713803A (en) | 2019-03-21 | 2019-03-21 | A kind of water surface robot wireless charging device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110336384A (en) * | 2019-05-05 | 2019-10-15 | 杭州电子科技大学 | A kind of wireless closed-loop voltage-stabilizing controller based on inductively coupled power transfer |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1130752A2 (en) * | 2000-02-24 | 2001-09-05 | Matsushita Electric Works, Ltd. | Non-contact electrical power transmission system having function of making load voltage constant |
| CN203504261U (en) * | 2013-05-14 | 2014-03-26 | 海能达通信股份有限公司 | Wireless charging system |
| CN105959379A (en) * | 2016-05-30 | 2016-09-21 | 杭州电子科技大学 | Underwater non-contact electric energy and data transmission system |
| CN106253406A (en) * | 2016-08-31 | 2016-12-21 | 成都国蓉科技有限公司 | A kind of wireless charging terminal under water |
| CN107508362A (en) * | 2017-09-13 | 2017-12-22 | 厦门大学 | A kind of robot system for underwater wireless charging |
-
2019
- 2019-03-21 CN CN201910214964.9A patent/CN109713803A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1130752A2 (en) * | 2000-02-24 | 2001-09-05 | Matsushita Electric Works, Ltd. | Non-contact electrical power transmission system having function of making load voltage constant |
| CN203504261U (en) * | 2013-05-14 | 2014-03-26 | 海能达通信股份有限公司 | Wireless charging system |
| CN105959379A (en) * | 2016-05-30 | 2016-09-21 | 杭州电子科技大学 | Underwater non-contact electric energy and data transmission system |
| CN106253406A (en) * | 2016-08-31 | 2016-12-21 | 成都国蓉科技有限公司 | A kind of wireless charging terminal under water |
| CN107508362A (en) * | 2017-09-13 | 2017-12-22 | 厦门大学 | A kind of robot system for underwater wireless charging |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110336384A (en) * | 2019-05-05 | 2019-10-15 | 杭州电子科技大学 | A kind of wireless closed-loop voltage-stabilizing controller based on inductively coupled power transfer |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190503 |
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| RJ01 | Rejection of invention patent application after publication |