CN102723791A - Wireless charging system of watercourse illegal pollution discharge detection robot fish - Google Patents
Wireless charging system of watercourse illegal pollution discharge detection robot fish Download PDFInfo
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- CN102723791A CN102723791A CN2012102351342A CN201210235134A CN102723791A CN 102723791 A CN102723791 A CN 102723791A CN 2012102351342 A CN2012102351342 A CN 2012102351342A CN 201210235134 A CN201210235134 A CN 201210235134A CN 102723791 A CN102723791 A CN 102723791A
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- 238000007600 charging Methods 0.000 title claims abstract description 169
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 90
- 238000001514 detection method Methods 0.000 title abstract 2
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 9
- 239000000758 substrate Substances 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000010891 electric arc Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The invention discloses a wireless charging system of a watercourse illegal pollution discharge detection robot fish. The wireless charging system comprises a charting station cabinet body, a navigation device, a wireless electric energy transmitting device, a charging station control box and a charging box which provides a stay space for charging the robot fish, wherein the navigation device is arranged in the charging box and guides the robot fish to enter the charging box by transmitting signals; the charging box is arranged on the charging station cabinet body in a sliding mode and can move up and down together with river water; the wireless electric energy transmitting device is arranged at the bottom of the charging box and transmits electric energy to the robot fish in a wireless mode; and the charging station control box is arranged on the charging station cabinet body to manage the whole charging process. The wireless charging system has the advantages of high intelligent degree, wide application range, high controllability, high charging efficiency and the like.
Description
Technical field
The present invention is mainly concerned with aquatic bionic mobile robot charging device field, refers in particular to a kind of river course wireless charging system of blowdown detecting machine fish in violation of rules and regulations that is applicable to.
Background technology
Pollution of river situation is serious day by day now; Government has no way out for the enterprise of some rows of stealing; Have the practitioner to design underwater bionic robot the river course is monitored, for example: the river course is blowdown detecting machine fish in violation of rules and regulations, and it comes into operation and just can help government to solve this difficult problem.
" river course is blowdown detecting machine fish in violation of rules and regulations " is the bionic mechanical fish that a kind of height is intelligent, moving range is wide; Its required electric energy is mainly from entrained battery pack; And the electric weight of battery pack is limited, needs regularly it to be charged, to guarantee its flying power.At present; Much the mobile robot uses large-capacity battery pack as power resources under water; Existing these underwater robots generally adopt the wired charging modes of artificial plug-in type, and the problem that this charging modes exists is: 1. plug receptacle is easy to generate and leaks, and underwater installation is damaged; Since underwater robot when charging a large amount of water of general adhesion in the above, so can cause situation such as electric leakage, the safety that jeopardizes personnel and equipment when charging because of carelessness; 3. the charging modes of plug-in type needs manual intervention, and automaticity reduces; 4. during large current charge, because the bigger generation electric arc of electric current, pair of wire connection terminals causes damage, is unfavorable for the useful life of robot when patching.
By on can know because there is so many problem in the charging modes of plug-in type, thus fit into highly intelligentized river course in violation of rules and regulations blowdown detect the machine fish.
Summary of the invention
The technical problem that the present invention will solve just is: to the technical problem that prior art exists, the present invention provide high, applied widely, handling good, the river course that charge efficiency is high of a kind of degree of intelligence in violation of rules and regulations blowdown detect the wireless charging system of machine fish.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of river course is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations; Comprise charging station cabinet, guider, radio energy dispensing device, charging station control cabinet and be used for providing the charging case of parking space for machine fish charging; Said guider is installed in the charging case and through the guiding machine fish that transmits and gets into charging case; Said charging case is slidedly arranged on the charging station cabinet and can moves up and down with river; Said radio energy dispensing device is installed on the charging case bottom and transmits electric energy to machine fish through wireless mode, and said charging station control cabinet is installed on the charging station cabinet to be managed whole charging process.
As further improvement of the present invention:
On the said charging station cabinet guide rail more than two is housed, said charging case is slidedly arranged on the guide rail.
Said charging station cabinet is provided with the reel assembly, is arranged with transmission pressure on the said reel assembly, and an end of said transmission pressure is connected on the charging case.
Said guider is the infrared navigation assembly, is provided with infrared receiving sensor in the said machine fish, and said infrared navigation assembly gets into charging case through the infrared light bunch guiding machine fish that emission has frequecy characteristic.
The bottom of said charging station cabinet is fixed in the charging station substrate.
Said charging station control cabinet comprises signal processing unit, wireless charging administrative unit and charging station processor; Said charging station processor links to each other with the radio energy dispensing device through signal processing unit, wireless charging administrative unit and the wireless charging process is controlled; Said charging station processor links to each other with guider through signal processing unit and navigation procedure is controlled, and said charging station processor links to each other with radio communication circuit and communicates with the machine fish.
Compared with prior art, the invention has the advantages that: river course of the present invention is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations, and is simple in structure, controllability good, intelligent degree high; Wherein have the machine fish and return guiding device; Can guide the machine fish to get into the charging zone automatically, and use the wireless power transmission mode to river course blowdown detecting machine fish charging in violation of rules and regulations, whole process is automatic completion; Charge efficiency is high, good reliability.
Description of drawings
Fig. 1 is a main TV structure sketch map of the present invention.
Fig. 2 is a side-looking structural representation of the present invention.
Principle schematic when Fig. 3 is the present invention guiding machine fish gets into charging station in concrete application example.
Fig. 4 is the frame structure sketch map of control circuit in the specific embodiment of the invention.
Fig. 5 is the frame structure sketch map of machine fish control circuit in the specific embodiment.
Marginal data:
1. charging station control cabinet; 2. transmission pressure; 3. guide rail; 4. charging case; 5. guider; 6. radio energy dispensing device; 7. infrared receiving sensor; 8, reel assembly; 10. charging station cabinet; 11. machine fish; 12. ultrasonic sensor; 13, radio energy receiving system; 14. machine fish battery management circuit; 15. machine fish signal processing circuit; 16. machine fish movement controller; 17. machine fish processor; 18. radio communication circuit; 19. wireless charging administrative unit; 20. signal processing unit; 21. charging station processor; 22. charging station substrate; 23. machine fish radio communication circuit.
Embodiment
Below will combine Figure of description and specific embodiment that the present invention is explained further details.
As depicted in figs. 1 and 2; River course of the present invention is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations; Comprise charging station cabinet 10, guider 5, radio energy dispensing device 6, charging station control cabinet 1 and be used for providing the charging case 4 of parking space for machine fish 11 charging; Guider 5 is installed in the middle position on charging case 4 chassis and gets into charging case 4 through the guiding machine fish 11 that transmits; Charging case 4 is slidedly arranged on the charging station cabinet 10 and can moves up and down and keep half to surface with river, and the place that charging case 4 provides stops, fixes during for 11 chargings of machine fish makes machine fish 11 out of servicely be unlikely to washed away again.Radio energy dispensing device 6 is installed on charging case 4 bottoms and transmits electric energy to machine fish 11 through wireless mode, and after machine fish 11 got into the charging zone, radio energy dispensing device 6 just can detect and open.Charging station control cabinet 1 is installed on the top of charging station cabinet 10, is used for the operation of whole charging process and charging station is managed, like the open and close of guider 5, control of radio energy dispensing device 6 or the like.All electric equipments of charging station: the power supply of control circuit, the air switch that inserts lead, earth leakage circuit-breaker, control circuit all is installed in the charging station control cabinet 1.
In the present embodiment, the guide rail 3 more than two is housed on the charging station cabinet 10, charging case 4 is slidedly arranged on the guide rail 3, and guide rail 3 can make charging case 4 can follow the ups and downs of river and move up and down and not washed away.
In the present embodiment, charging station cabinet 10 is provided with reel assembly 8, is arranged with transmission pressure 2 on the reel assembly 8, and an end of transmission pressure 2 is connected on the charging case 4.Motor is installed in the reel assembly 8 can adjust reel automatically according to moving of charging case 4 to the length of transmission pressure 2.
In the present embodiment, guider 5 is the infrared navigation assembly, is provided with infrared receiving sensor 7 in the machine fish 11, and the infrared navigation assembly gets into charging case 4 through the infrared light bunch guiding machine fish 11 that emission has frequecy characteristic.The infrared navigation assembly is installed in the middle position of inwall in the charging case 4, and charging station control cabinet 1 is opened guider 5 after receiving the information of returning charging that machine fish 11 sends, and can send the infrared ray that cluster has the fixed frequency characteristic after guider 5 is opened.Infrared receiving sensor 7 is installed on the river course violation blowdown detecting machine fish 11, and machine fish 11 receives ultrared situation according to infrared receiving sensor 7 state of machine fish 11 is adjusted, and charges so that can correctly get into charging case 4.When machine fish 11 a certain or a plurality of infrared receiving sensors 7 receive infrared ray; The attitude of adjustment machine fish 11 makes three transducers that are installed in its place ahead receive infrared ray; Straight line moved forward after adjustment finished; When moving, keep three infrared receiving sensors 7 can continue to receive infrared ray, the ultrasonic sensor up to machine fish 11 fronts detects when the infrared navigation assembly is less than, and machine fish 11 promptly gets into and carries out wireless charging in the charging case 4.
As shown in Figure 4; Charging station control cabinet 1 comprises signal processing unit 20, wireless charging administrative unit 19 and charging station processor 21; Charging station processor 21 links to each other with radio energy dispensing device 6 through signal processing unit 20, wireless charging administrative unit 19 and the wireless charging process is controlled; Charging station processor 21 links to each other with guider 5 through signal processing unit 20 and navigation procedure is controlled, and charging station processor 21 links to each other with radio communication circuit 18 and communicates with machine fish 11.Whether wireless charging administrative unit 19 can detect through radio energy dispensing device 6 has machine fish 11 charging, and wireless charging administrative unit 19 is connected with radio energy dispensing device 6 through transmission pressure 2.The operation of 21 pairs of whole charging stations of charging station processor is managed, and all devices in the charging station is accepted its control.When the radio communication circuit 18 of charging station is received machine fish 11 after the information of the request of its transmission charging, the charging of entering the station of charging station processor 21 control guiders 5 guiding machine fishes 11 is controlled 19 pairs of machine fishes 11 of wireless charging administrative unit and is charged.
In the present embodiment, the bottom of charging station cabinet 10 is fixed in the charging station substrate 22, and charging station substrate 22 is fixed in the earth under the bottom, and it is fixing that charging station can be accessed.
Referring to Fig. 3, Fig. 4 and Fig. 5; When the river course in violation of rules and regulations the machine fish battery management circuit 14 of blowdown detecting machine fish 11 through inside detect battery electric quantity when low; Machine fish processor 17 to machine fish movement controller 16 sending controling instructions, makes machine fish 11 return wireless charging of the present invention station through machine fish signal processing circuit 15.When machine fish 11 returns charging station, float to the water surface in the elder generation, use machine fish radio communication circuit 23 to send return information to charging station.After the radio communication circuit 18 of charging station is received the information that machine fish 11 returns; Be sent to this information in the charging station processor 21 through signal processing unit 20, charging station processor 21 will be opened guider 5 and open wireless Charge Management unit 19 according to setting program.After machine fish 11 moves near the charging station through the GPS navigation mode; Start the infrared receiving sensor 7 of self and detect the infrared navigation signal; After some or a plurality of infrared receiving sensors 7 detected the infrared navigation signal, machine fish 11 made three infrared receiving sensors 7 in machine fish 11 the place aheads can both detect signal through the attitude of machine fish movement controller 16 adjustment self.Guarantee that three the infrared receiving sensors 7 in machine fish 11 the place aheads receive all that machine fish 11 will be by straight-line travelling under the situation of infrared signal; Ultrasonic sensor 12 on machine fish 11 detects machine fish 11 when guider 5 distances are too small; Stop to move and sink to being fixed on the charging case 4, machine fish 11 got in the charges of wireless charging of charging case 4 and through radio energy receiving system 13 and began charging this moment.Machine fish processor 17 receives charging that machine fish battery management circuit 14 sends over and finishes after the information, and the expression charging finishes, and machine fish 11 come-ups also start screw and make machine fish 11 swim out of charging case 4 to continue the work of cruising.Send leave message through machine fish radio communication circuit 23 to charging station when machine fish 11 leaves charging station, charging station is closed the return information that all devices is in holding state and waits for machine fish 11 after receiving information.
Below only be preferred implementation of the present invention, protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art some improvement and retouching not breaking away under the principle of the invention prerequisite should be regarded as protection scope of the present invention.
Claims (6)
1. the river course wireless charging system of blowdown detecting machine fish in violation of rules and regulations; It is characterized in that; Comprise charging station cabinet (10), guider (5), radio energy dispensing device (6), charging station control cabinet (1) and be used for providing the charging case (4) of parking space for machine fish (11) charging; Said guider (5) is installed in the charging case (4) and through the guiding machine fish (11) that transmits and gets into charging case (4); Said charging case (4) is slidedly arranged on charging station cabinet (10) and goes up and can move up and down with river; Said radio energy dispensing device (6) is installed on charging case (4) bottom and transmits electric energy to machine fish (11) through wireless mode, and said charging station control cabinet (1) is installed on charging station cabinet (10) and upward whole charging process is managed.
2. river course according to claim 1 is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations, it is characterized in that the guide rail (3) more than two is housed on the said charging station cabinet (10), and said charging case (4) is slidedly arranged on the guide rail (3).
3. river course according to claim 1 and 2 is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations; It is characterized in that; Said charging station cabinet (10) is provided with reel assembly (8); Be arranged with transmission pressure (2) on the said reel assembly (8), an end of said transmission pressure (2) is connected on the charging case (4).
4. river course according to claim 1 and 2 is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations; It is characterized in that; Said guider (5) is the infrared navigation assembly; Be provided with infrared receiving sensor (7) in the said machine fish (11), said infrared navigation assembly gets into charging case (4) through the infrared light bunch guiding machine fish (11) that emission has frequecy characteristic.
5. river course according to claim 1 and 2 is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations, it is characterized in that the bottom of said charging station cabinet (10) is fixed in the charging station substrate (22).
6. river course according to claim 1 and 2 is the wireless charging system of blowdown detecting machine fish in violation of rules and regulations; It is characterized in that; Said charging station control cabinet (1) comprises signal processing unit (20), wireless charging administrative unit (19) and charging station processor (21); Said charging station processor (21) links to each other with radio energy dispensing device (6) through signal processing unit (20), wireless charging administrative unit (19) and the wireless charging process is controlled; Said charging station processor (21) links to each other with guider (5) through signal processing unit (20) and navigation procedure is controlled, and said charging station processor (21) links to each other with radio communication circuit (18) and communicates with machine fish (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210235134.2A CN102723791B (en) | 2012-07-09 | 2012-07-09 | Wireless charging system of watercourse illegal pollution discharge detection robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210235134.2A CN102723791B (en) | 2012-07-09 | 2012-07-09 | Wireless charging system of watercourse illegal pollution discharge detection robot fish |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102723791A true CN102723791A (en) | 2012-10-10 |
| CN102723791B CN102723791B (en) | 2014-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210235134.2A Expired - Fee Related CN102723791B (en) | 2012-07-09 | 2012-07-09 | Wireless charging system of watercourse illegal pollution discharge detection robot fish |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109038838A (en) * | 2018-08-10 | 2018-12-18 | 山东建筑大学 | A kind of wireless charging system and method for machine fish |
| CN112467852A (en) * | 2019-09-09 | 2021-03-09 | 清华大学 | Charging cabin and inspection robot fish matched with same |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005177065A (en) * | 2003-12-18 | 2005-07-07 | Keisuke Goto | Toy operated by induced electromotive force, and underwater apparatus having contactless recharging pad used for the same and floating toy capable of being contactlessly and automatically recharged |
| JP2005312096A (en) * | 2004-04-16 | 2005-11-04 | Funai Electric Co Ltd | Electric apparatus |
| CN101590904A (en) * | 2009-07-03 | 2009-12-02 | 重庆大学 | Energy pickup device for robotic fish |
| US20110089891A1 (en) * | 2009-10-16 | 2011-04-21 | Micro-Star Internationa'l Co., Ltd. | Electronic device |
| CN102217918A (en) * | 2010-04-14 | 2011-10-19 | 泰怡凯电器(苏州)有限公司 | Robot system and method for butt joint of robot and charging seat of robot system |
-
2012
- 2012-07-09 CN CN201210235134.2A patent/CN102723791B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005177065A (en) * | 2003-12-18 | 2005-07-07 | Keisuke Goto | Toy operated by induced electromotive force, and underwater apparatus having contactless recharging pad used for the same and floating toy capable of being contactlessly and automatically recharged |
| JP2005312096A (en) * | 2004-04-16 | 2005-11-04 | Funai Electric Co Ltd | Electric apparatus |
| CN101590904A (en) * | 2009-07-03 | 2009-12-02 | 重庆大学 | Energy pickup device for robotic fish |
| US20110089891A1 (en) * | 2009-10-16 | 2011-04-21 | Micro-Star Internationa'l Co., Ltd. | Electronic device |
| CN102217918A (en) * | 2010-04-14 | 2011-10-19 | 泰怡凯电器(苏州)有限公司 | Robot system and method for butt joint of robot and charging seat of robot system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109038838A (en) * | 2018-08-10 | 2018-12-18 | 山东建筑大学 | A kind of wireless charging system and method for machine fish |
| CN109038838B (en) * | 2018-08-10 | 2020-08-07 | 山东建筑大学 | Wireless charging system and method for robot fish |
| CN112467852A (en) * | 2019-09-09 | 2021-03-09 | 清华大学 | Charging cabin and inspection robot fish matched with same |
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| Publication number | Publication date |
|---|---|
| CN102723791B (en) | 2014-04-23 |
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Granted publication date: 20140423 |