Novel underwater robot fish school wireless charging system based on electromagnetic induction principle

Abstract

The invention discloses a novel underwater robotic fish school wireless charging system based on an electromagnetic induction principle, and relates to the technical field of wireless charging. The robot fish comprises a charging type robot fish, a functional robot fish and a control mechanism. The charging type robotic fish comprises a robotic fish outer shell, a fisheye camera, a GPS, a control system, a driving system, a coil, a large-capacity battery and a pulse signal excitation circuit. A functional robotic fish comprises a robotic fish outer shell, a fisheye camera, a GPS, a control system, a driving system, a coil, a battery and a rectifying circuit. The control mechanism comprises a control device arranged in the robotic fish, and the control device comprises a visual sensing module, an edge calculation module, a terminal module and an Internet of Things module. Compared with a traditional underwater robotic fish school control system, the charging type robotic fish wirelessly charges the functional robotic fish through the electromagnetic induction principle, so that the robotic fish school has longer cruising ability.

Description

Technical Field

[0001] This invention relates to the field of wireless charging technology, and in particular to a novel underwater robotic fish swarm wireless charging system based on the principle of electromagnetic induction. Background Technology

[0002] With the increasing national investment in marine resource and environmental exploration in recent years, the number of underwater machines used for underwater tasks such as marine exploration, environmental monitoring, subsea pipeline maintenance, and archaeological excavation is growing. Traditional underwater machines mainly rely on wired connections or being recalled for power supply when the battery is low. The former limits the range and flexibility of underwater machines, while the latter limits the duration of a single operation.

[0003] Current underwater robotic fish swarm control systems typically include a camera, GPS positioning system, control system, drive system, and battery in each robotic fish. The control system also includes an image recognition module for identifying images and a communication module for transmitting image data. The control system is electrically connected to the camera, drive system, and battery, and the battery is electrically connected to the GPS positioning system, control system, drive system, and camera. This invention has a simple structure and is capable of performing underwater tasks to a certain extent.

[0004] However, the aforementioned device has drawbacks in practical use. While it processes camera footage through a control system to drive the underwater operation, in actual use, the robotic fish can only return to recharge when its battery is low, limiting its underwater operation time. Furthermore, the camera's shooting angle is only around 80°, resulting in a narrow coverage area and hindering obstacle avoidance during operation. Summary of the Invention

[0005] The purpose of this invention is to provide a novel wireless charging system for underwater robotic fish swarms based on the principle of electromagnetic induction, in order to solve the problems mentioned in the background art.

[0006] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0007] A novel wireless charging system for underwater robotic fish swarms based on the principle of electromagnetic induction includes...

[0008] 1. A novel wireless charging system for underwater robotic fish swarms based on the principle of electromagnetic induction, characterized in that it includes a rechargeable robotic fish, a functional robotic fish, and a control mechanism.

[0009] The rechargeable robotic fish includes a robotic fish shell and a fisheye camera, a GPS positioning system, a control system, a coil, a high-capacity battery, a pulse signal excitation circuit, and a drive circuit installed inside the robotic fish shell. The fisheye camera is located at the head of the robotic fish shell. The control system is electrically connected to the fisheye camera and the drive circuit. The high-capacity battery is electrically connected to the GPS positioning system, the control system, the pulse signal excitation circuit, and the drive circuit. The pulse signal excitation circuit is electrically connected to the coil.

[0010] The functional robotic fish includes a robotic fish shell and a fisheye camera, a GPS positioning system, a control system, a coil, a drive circuit, a battery, and a rectifier circuit installed inside the robotic fish shell. The fisheye camera is located at the head of the robotic fish shell. The control system is electrically connected to the fisheye camera and the drive circuit. The battery is electrically connected to the GPS positioning system, the control system, the drive circuit, and the rectifier circuit. The rectifier circuit is electrically connected to the coil.

[0011] The control mechanism includes a control system disposed inside the outer shell of the robotic fish. The control system includes a visual sensing module for correcting the image captured by the fisheye camera to generate an environmental image greater than 180° and an edge computing module for identifying obstacles in the environmental image and outputting obstacle position and distance information. The visual sensing module and the edge computing module are connected via TCP / IP protocol.

[0012] 2. A novel wireless charging system for underwater robotic fish swarms based on the principle of electromagnetic induction, as described in claim 1, characterized in that: the fisheye camera is responsible for collecting video image data of the marine environment; the visual sensing module can correct the images captured by the fisheye camera to monitor the marine environment in front of the robotic fish at a range greater than 180°; the edge intelligent computing module analyzes the video image data processed by the visual sensing module to identify obstacles such as fish and corals in the marine environment and obtain information such as the location and distance of the obstacles; the edge computing module takes video image data as input and outputs obstacle information, and communicates with the visual sensing module via the TCP / IP protocol.

[0013] 3. A novel underwater robotic fish swarm wireless charging system based on the principle of electromagnetic induction as described in claim 1, characterized in that: the control device is provided with a terminal module and an Internet of Things (IoT) module; the terminal module is connected to the edge computing module via the MQTT protocol; the terminal module inputs obstacle location and distance information output by the edge computing module, and outputs control signals to drive the robotic fish to avoid obstacles; the IoT module can provide the charging robotic fish with power information of each functional robotic fish; the charging robotic fish automatically finds and follows the functional robotic fish for wireless charging based on the power information.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This invention adds a rechargeable robotic fish equipped with an electromagnetic transmitter and a large-capacity battery to a traditional underwater robotic fish swarm system. This rechargeable robotic fish is solely responsible for wirelessly charging the functional robotic fish, while the working robotic fish is equipped with an electromagnetic receiver. Compared to traditional underwater robotic fish swarm control systems, which can only return to recharge when the robotic fish's battery is low, the rechargeable robotic fish in this invention can wirelessly charge the functional robotic fish through the principle of electromagnetic induction, giving the robotic fish swarm a longer endurance.

[0016] This invention uses a visual sensing module to correct and stitch together the images captured by the fisheye camera, enabling it to capture images of an environment larger than 180° in front of the robotic fish, providing a wider shooting range compared to traditional devices that use planar cameras. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the external overall structure of a novel underwater robotic fish swarm wireless charging system based on the principle of electromagnetic induction.

[0018] Figure 2 This is a schematic diagram of the internal structure of a rechargeable robotic fish in a novel wireless charging system for underwater robotic fish swarms based on the principle of electromagnetic induction.

[0019] Figure 3 This is a schematic diagram of the internal structure of a functional robotic fish in a novel wireless charging system for underwater robotic fish swarms based on the principle of electromagnetic induction.

[0020] In the diagram: 100, Rechargeable robotic fish; 101, Robotic fish shell; 102, Fisheye camera; 103, GPS positioning system; 104, Control system; 105, Coil; 106, High-capacity battery; 107, Pulse signal excitation circuit; 108, Drive system; 200, Functional robotic fish; 201, Battery; 202, Rectifier circuit; 300, Control mechanism; 301, Visual sensing module; 302, Edge computing module; 303, Terminal module; 304, Internet of Things module. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figures 1-3 As shown, this invention is a novel underwater robotic fish swarm wireless charging system based on the principle of electromagnetic induction, comprising:

[0023] A rechargeable robotic fish 100 includes a robotic fish shell 101 and a fisheye camera 102, a GPS positioning system 103, a control system 104, a coil 105, a high-capacity battery 106, a pulse signal excitation circuit 107, and a drive circuit 108 installed inside the robotic fish shell 101. The fisheye camera 102 is located at the head of the robotic fish shell 101. The control system 104 is electrically connected to the fisheye camera 102 and the drive circuit 108. The high-capacity battery 106 is electrically connected to the GPS positioning system 103, the control system 104, the pulse signal excitation circuit 107, and the drive circuit 108. The pulse signal excitation circuit 107 is electrically connected to the coil 105.

[0024] A functional robotic fish 200 includes a robotic fish shell 101 and a fisheye camera 102, a GPS positioning system 103, a control system 104, a coil 105, a drive circuit 108, a battery 201, and a rectifier circuit 202 installed inside the robotic fish shell 101. The fisheye camera 102 is located at the head of the robotic fish shell 101. The control system 104 is electrically connected to the fisheye camera 102 and the drive circuit 108. The battery 201 is electrically connected to the GPS positioning system 103, the control system 104, the drive circuit 108, and the rectifier circuit 202. The rectifier circuit 202 is electrically connected to the coil 105.

[0025] The control mechanism 300 includes a control system 104 disposed inside the outer shell 101 of the robotic fish. The control system 104 is equipped with a visual sensing module 301 for correcting the image captured by the fisheye camera 102 to generate an environmental image greater than 180°, and an edge computing module for identifying obstacles in the environmental image and outputting obstacle position and distance information. The Internet of Things module 304 can provide the rechargeable robotic fish with the power information of each functional robotic fish. The rechargeable robotic fish automatically finds and follows the functional robotic fish for wireless charging based on the power information.

[0026] Specifically, the IoT module 304 can provide the rechargeable robotic fish 100 with the power information of each functional robotic fish 200. The control system 104 in the rechargeable robotic fish 100 controls the drive system 108 to drive the rechargeable robotic fish 100 to find and follow the functional robotic fish 200. Based on the principle of electromagnetic induction, the rechargeable robotic fish 100 uses an electromagnetic transmitting device composed of a large-capacity battery 107, a pulse signal excitation circuit 107 and a coil 105, and the functional robotic fish 200 uses an electromagnetic receiving device composed of a coil 105, a rectifier circuit 202 and a battery 201 to perform wireless charging.

[0027] The visual sensing module 301 corrects the image captured by the fisheye camera 102 to generate a video image of the marine environment in front of the robotic fish, which is greater than 180°. The visual sensing module 301 communicates with the edge intelligent computing module 302 via the TCP / IP protocol. The edge intelligent computing module 302 analyzes the video image data generated by the visual sensing module 301 and outputs the position and distance information of obstacles such as fish and corals in the marine environment. The edge computing module 302 communicates with the terminal module 303 via the MQTT protocol. After obtaining the information from the edge computing module 302, the terminal module 303 controls the drive system 108 to complete obstacle avoidance.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A novel underwater robotic fish swarm wireless charging system based on the principle of electromagnetic induction, characterized in that: It includes a rechargeable robotic fish (100), a functional robotic fish (200), and a control mechanism (300). The rechargeable robotic fish (100) includes a robotic fish shell (101) and a fisheye camera (102), a GPS positioning system (103), a control system (104), a coil (105), a high-capacity battery (106), a pulse signal excitation circuit (107), and a drive circuit (108) installed inside the robotic fish shell (101). The fisheye camera (102) is located at the head of the robotic fish shell (101). The control system (104) is electrically connected to the fisheye camera (102) and the drive circuit (108). The high-capacity battery (106) is electrically connected to the GPS positioning system (103), the control system (104), the pulse signal excitation circuit (107), and the drive circuit (108). The pulse signal excitation circuit (107) is electrically connected to the coil (105). The functional robotic fish (200) includes a robotic fish shell (101) and a fisheye camera (102), a GPS positioning system (103), a control system (104), a coil (105), a drive circuit (108), a battery (201), and a rectifier circuit (202) installed inside the robotic fish shell (101). The fisheye camera (102) is located at the head of the robotic fish shell (101). The control system (104) is electrically connected to the fisheye camera (102) and the drive circuit (108). The battery (201) is electrically connected to the GPS positioning system (103), the control system (104), the drive circuit (108), and the rectifier circuit (202). The rectifier circuit (202) is electrically connected to the coil (105). The control mechanism (300) includes the control system (104) disposed inside the outer shell (101) of the robotic fish. The control system (104) is provided with a visual sensing module (301) for correcting the image captured by the fisheye camera (102) to generate an environmental image greater than 180° and an edge computing module for identifying obstacles in the environmental image and outputting obstacle position and distance information. The visual sensing module (301) and the edge computing module (302) are connected to each other via TCP / IP protocol.

2. The novel underwater robotic fish swarm wireless charging system based on the principle of electromagnetic induction as described in claim 1, characterized in that: The fisheye camera (102) is responsible for collecting video image data of the marine environment; the visual sensing module (301) can correct the images captured by the fisheye camera (102) to monitor the marine environment in front of the robotic fish at a range greater than 180°; the edge intelligent computing module (302) analyzes the video image data processed by the visual sensing module (301) to identify obstacles such as fish and corals in the marine environment and obtain information such as the location and distance of the obstacles; the edge computing module (302) takes video image data as input and outputs obstacle information, and communicates with the visual sensing module (301) through the TCP / IP protocol.

3. The novel underwater robotic fish swarm wireless charging system based on the principle of electromagnetic induction as described in claim 1, characterized in that: The control device includes a terminal module (303) and an Internet of Things (IoT) module (304). The terminal module (303) is connected to the edge computing module (302) via the MQTT protocol. The terminal module (303) inputs information such as the location and distance of obstacles output by the edge computing module (302) and outputs control signals to drive the robotic fish to avoid obstacles. The IoT module (304) can provide the charging robotic fish with the power information of each functional robotic fish. The charging robotic fish automatically finds and follows the functional robotic fish for wireless charging based on the power information.

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