Wireless charging method and charging device for charging underwater mobile device

Abstract

A wireless charging method for charging an underwater vehicle is provided. SOLUTION: Wireless Charging The method is performed by a charging device, and the charging device and the underwater mobile device support wireless charging technology and underwater wireless communication technology. The method includes the steps of: obtaining mobile device information of the underwater mobile device by the charging device communicating with the underwater mobile device using the underwater wireless communication technology; generating a positioning success signal after the underwater mobile device is held at a charging position; and charging the underwater mobile device by sending power to the underwater mobile device using the power received from the cable using the wireless charging technology based on the mobile device information when the positioning success signal is generated.

Description

[Technical field]

[0001] The present invention relates to a wireless charging method for charging an underwater vehicle, and more particularly to a charging device that floats on the surface of water for charging an underwater vehicle. [Background technology]

[0002] Wireless autonomous underwater vehicles (AUVs) can perform various underwater activities (e.g., underwater exploration, underwater surveying) in a wide range of underwater areas. On the other hand, wireless AUVs do not contain cables and cannot be operated to provide power from a parent ship via a cable. The same is true for ornamental biomimetic underwater robots (e.g., biomimetic robotic fish). Therefore, conventional wireless AUVs or biomimetic robotic fish must travel to a designated location, surface, and be charged by electrically connecting to an external cable before they run out of power. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 7,077,072 Summary of the Invention [Problem to be solved by the invention]

[0004] SUMMARY OF THE PRESENTLY PREFERRED EMBODIMENTS Accordingly, an object of the present invention is to provide a wireless charging method and charging device for charging an underwater vehicle, which can alleviate at least one of the shortcomings of the prior art. [Means for solving the problem]

[0005] The wireless charging method for charging an underwater vehicle is performed by a charging device.

[0006] The charging device receives power from the cable and includes a first control unit, a first underwater wireless communication unit, a wireless charging transmitter, and a position-keeping unit. The first control unit is electrically connected to the first underwater wireless communication unit, the wireless charging transmitter, and the position-keeping unit.

[0007] The underwater mobile device includes a second underwater wireless communication unit, a wireless charging receiver, and a rechargeable battery.

[0008] The first underwater wireless communication unit and the second underwater wireless communication unit correspond to an underwater wireless communication technology. The wireless charging transmitter and the wireless charging receiver correspond to a wireless charging technology.

[0009] wireless charging The method includes a step of a first control unit obtaining mobile device information of the underwater mobile device by communicating with a second underwater wireless communication unit via the first underwater wireless communication unit, a step of a position holding unit holding the underwater mobile device in a charging position and generating a positioning success signal after the underwater mobile device is held in the charging position, and a step of the first control unit controlling a wireless charging transmitter based on the mobile device information to charge the rechargeable battery by sending power to the wireless charging receiver using power received from the cable.

[0010] The charging device is configured to charge the underwater mobile device compatible with underwater wireless communication technology and wireless charging technology, receives power from a cable, and includes a control unit, an underwater wireless communication unit compatible with underwater wireless communication technology, a wireless charging transmitter compatible with wireless charging technology, and a position-keeping unit. The control unit is electrically connected to the underwater wireless communication unit, the wireless charging transmitter, and the position-keeping unit.

[0011] The position maintaining unit is configured to maintain the underwater mobile device in a charging position and to generate a positioning success signal after the underwater mobile device is maintained in the charging position.

[0012] The control unit is configured to obtain mobile device information of the underwater mobile device via the underwater wireless communication unit, and when a positioning success signal is generated by the position holding unit, to control the wireless charging transmitter based on the mobile device information to charge the underwater mobile device by sending power to the underwater mobile device using the power received from the cable. Effect of the Invention

[0013] According to the wireless charging method of the present invention, the charging device can obtain mobile device information from the underwater mobile device through the first underwater wireless communication unit and the second underwater wireless communication unit, and when the underwater mobile device is held at a charging position by the position holding unit of the charging device, a positioning success signal is generated, and the charging device can wirelessly charge the underwater mobile device through the wireless charging transmitter and the wireless charging receiver based on the mobile device information.

[0014] Other features and advantages of the present invention will become apparent in the following detailed description of the embodiments which proceeds with reference to the accompanying drawings. [Brief description of the drawings]

[0015] [Figure 1] 1 is a block diagram of a charging device and an underwater vehicle connected to the charging device according to a first embodiment of the present invention. [Diagram 2] 2 is a flowchart of a wireless charging method according to a first embodiment of the present invention. [Diagram 3] FIG. 11 is a block diagram of a charging device and an underwater vehicle connected to the charging device according to a second embodiment of the present invention. [Figure 4] 6 is a flowchart of a wireless charging method according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Before describing the present invention in more detail, it should be noted that, where considered appropriate, reference numerals or terminal portions of reference numerals have been repeated among the drawings to indicate corresponding or similar elements which may have similar characteristics.

[0017] Referring to FIG. 1, there is shown a charging device 1 for charging an underwater vehicle 2 according to a first embodiment.

[0018] In this embodiment, the charging device 1 is configured to receive power from a cable 3 connected to an external power source (not shown) and charge the underwater mobile device 2 using the received power. The charging device 1 includes a first control unit 11, a first underwater wireless communication unit 12, a wireless charging transmitter 13, a surface wireless communication unit 14, a first positioning unit 15, and a position holding unit 16. The first control unit 11 is electrically connected to the first underwater wireless communication unit 12, the wireless charging transmitter 13, the surface wireless communication unit 14, the first positioning unit 15, and the position holding unit 16. The charging device 1 is, for example, a charging device that floats on the water surface, and the part of the charging device 1 above the water surface has a lotus flower-like appearance.

[0019] The underwater moving device 2 includes a second control unit 21, a second underwater wireless communication unit 22, a wireless charging receiver 23, and a rechargeable battery 24. The second control unit 21 is electrically connected to the second underwater wireless communication unit 22, the wireless charging receiver 23, and the rechargeable battery 24. The underwater moving device 2 is, for example, a robotic fish. The second control unit 21 is configured to drive and operate a drive module (not shown) of the robotic fish based on a predetermined program, thereby moving the robotic fish in an underwater environment. The predetermined program is, for example, pre-stored in the second control unit 21 and is related to control of the movements of the robotic fish (e.g., rising, sinking, moving forward, turning left, turning right, etc.). The drive module may include various joints, mechanisms for rising and sinking, fins or tails for moving forward and turning, motors, gear sets, link mechanisms, etc.

[0020] Each of the first control unit 11 and the second control unit 21 may be a microcontroller (MCU) or any circuit capable of implementing the functions of the present invention.

[0021] 2, the wireless charging method for charging the underwater vehicle 2 according to the first embodiment of the present invention includes steps S11 to S15. The wireless charging method can be performed by the charging device 1.

[0022] In step S11, the first control unit 11 obtains mobile device information of the underwater mobile device 2 by communicating with the second underwater wireless communication unit 22 using underwater wireless communication technology via the first underwater wireless communication unit 12. The mobile device information may include, for example, a moving trajectory, a moving time, a motor rotation speed, a battery power level, a battery voltage value, a battery output current value, an operation error record, and the like.

[0023] The first underwater wireless communication unit 12 and the second underwater wireless communication unit 22 correspond to underwater wireless communication technology. The underwater wireless communication technology uses, for example, one of ultrasonic waves and radio waves in the LoRa (Long Range) wireless communication method as a transmission medium. For example, the first underwater wireless communication unit 12 and the second underwater wireless communication unit 22 each include an ultrasonic transducer. In this step, the ultrasonic transducer included in the second underwater wireless communication unit 22 realizes transmission in the underwater environment by converting the electric signal obtained by modulating the original signal (mobile device information) with amplitude shift keying (ASK) into an ultrasonic signal, and the ultrasonic transducer included in the first underwater wireless communication unit 12 receives the ultrasonic signal, converts the received ultrasonic signal into an electric signal, and demodulates the converted electric signal to obtain the original signal.

[0024] In step S12 , the first control unit 11 uses the first positioning unit 15 to obtain the position information of the charging device 1 .

[0025] The first positioning unit 15 may correspond to a microlocation technology, for example, but is not limited to, one of the Global Positioning System (GPS), the Ultra Wideband System (UWB), and Bluetooth. Therefore, the location information of the charging device 1 may be obtained by using the first positioning unit 15 corresponding to a microlocation technology, for example, one of the Global Positioning System (GPS), the Ultra Wideband System (UWB), and Bluetooth. For example, when the first positioning unit 15 corresponds to UWB, the charging device 1 is located in a pool, and multiple UWB anchors are fixedly installed around the pool, and the charging device 1 communicates with the multiple UWB anchors to obtain the coordinates of the charging device 1 (which becomes the location information of the charging device 1). The number of UWB anchors may be, but is not limited to, three.

[0026] In step S13, the first control unit 11 transmits charging device information, including location information of the charging device 1 and a charging status indicating whether the charging device 1 is charging the underwater mobile device 2, to the management device 9 via the surface wireless communication unit 14 using land wireless communication technology.

[0027] The surface wireless communication unit 14 and the management device 9 are compatible with land wireless communication technology. The land wireless communication technology uses, for example, one of Wi-Fi, a fourth generation mobile communication system (4G), and a fifth generation mobile communication system (5G). The management device 9 is, for example, a computer compatible with the land wireless communication technology. Using the charging device information, the management device 9 can grasp information about the charging device 1 and manage the charging device 1.

[0028] In step S14, the position holding unit 16 holds the underwater mobile device 2 at a charging position, and generates a positioning success signal after the underwater mobile device 2 is held at the charging position. The charging position is a position where the wireless charging transmitter 13 can transmit power to the wireless charging receiver 23 and charge the underwater mobile device 2.

[0029] For example, the underwater vehicle 2 further includes a magnet 26, and the position holding unit 16 of the charging device 1 includes a proximity switch 161 including a reed switch 162. The magnet 26 is attached to a position of the underwater vehicle 2 corresponding to the proximity switch 161 when the underwater vehicle 2 is held at the charging position. As a result, when the underwater vehicle 2 is held at the charging position, the magnet 26 approaches the proximity switch 161 and drives the reed switch 162 from a non-conducting position to a conducting position, thereby changing the logic value of the proximity switch 161, and the position holding unit 16 generates a positioning holding signal (for example, changes the positioning success signal to a specific logic value indicating that positioning is successful). Furthermore, the underwater vehicle 2 and the charging device 1 stably hold the underwater vehicle 2 at the charging position by the magnetic attraction force between the magnet 26 of the underwater vehicle 2 (or another magnet of the underwater vehicle 2) and the metal plate of the charging device 1.

[0030] In step S15, when the positioning success signal is generated, the first control unit 11 controls the wireless charging transmitter 13 based on the mobile device information (e.g., when the battery voltage value included in the mobile device information is lower than the battery voltage threshold, or when the battery power level included in the mobile device information is lower than the battery power threshold) to charge the rechargeable battery 23 of the underwater mobile device 2 by sending power to the wireless charging receiver 23 using the received power received from the cable 3 through wireless charging technology, and further updates the charging status to the management device 9 via the surface wireless communication unit 14 to indicate that the underwater mobile device 2 is being charged.

[0031] The wireless charging transmitter 13 and the wireless charging receiver 23 are compatible with wireless charging technology that complies with, for example, one of the Qi standard, a standard established by the Alliance for Wireless Power (A4WP), and a standard established by the Power Matters Alliance (PMA).

[0032] In addition, in this embodiment, the charging device 1 may further include a connection unit 17 electrically connected to the first control unit 11. The connection unit 17 is, for example, a serial interface including a power transmission contact and a data transmission contact. The charging device 1 can be electrically connected to a connection unit of another charging device through another cable by the connection unit 17. Therefore, the wireless charging method of this embodiment may further include a step in which, before performing step S11, the first control unit 11 sends the power received from the cable 3 through the power transmission contact to the other charging device through the connection unit 17 and the other cable, and sends information (e.g., mobile device information, charging voltage / current / power of the charging device 1, information on whether a positioning success signal is generated, etc.) through the data transmission contact.

[0033] 3 and 4, a wireless charging method for charging an underwater vehicle 2 according to a second embodiment is shown, and the wireless charging method is performed by the charging device 1 and the underwater vehicle 2. The underwater vehicle 2 further includes a second positioning unit 25 electrically connected to the second control unit 21. The second positioning unit 25 is similar to the first positioning unit 15, and will not be described in detail. In this embodiment, the wireless charging method includes S21 to S26.

[0034] Step S21 is the same as step S12 in the above-described first embodiment.

[0035] In step S22, if the second control unit 21 determines that the charging conditions are met, it controls the underwater mobile device 2 to rise, obtains position information of the underwater mobile device 2 via the second positioning unit 25, obtains position information of the charging device 1 by communicating with the first underwater wireless communication unit 21 using underwater wireless communication technology via the second underwater wireless communication unit 22, and controls the underwater mobile device 2 to sink and move closer to the charging device 1 based on the position information of the underwater mobile device 2 and the position information of the charging device 1. The charging conditions may include, for example, but are not limited to, that the power level is lower than a predetermined battery power level threshold (e.g., 20% of the charging capacity).

[0036] Step S23 is the same as step S14.

[0037] Step S24 is the same as step S11.

[0038] Step S25 is the same as step S13.

[0039] Step S26 is the same as step S15.

[0040] Similarly, the charging device 1 may further include a connection unit 17. Therefore, the wireless charging method of the present embodiment may further include a step in which the first control unit 11 sends the power received from the cable 3 and sends information (e.g., mobile device information) to another charging device via the connection unit 17 and another cable before executing step S21. The details will not be described in detail since they overlap with the above description.

[0041] Furthermore, when charging of the underwater mobile device 2 is completed (for example, when the second control unit 21 determines that the power level of the rechargeable battery 24 has reached 90% of the charging capacity), or when it is determined based on the mobile device information that the underwater mobile device 2 does not require charging (for example, when the battery voltage value is not lower than the battery voltage threshold, or when the battery power level included in the mobile device information is not lower than the battery power threshold), the second control unit 21 controls the drive module of the underwater mobile device 2 to quickly move the underwater mobile device 2 so that the magnet 26 (or other magnets of the underwater mobile device 2) is pulled away from the metal plate of the charging device 1 and the underwater mobile device 2 moves away from the charging device 1. When the magnet 26 of the underwater mobile device 2 moves away from the charging device 1, the reed switch 162 of the proximity switch 161 returns from the conductive position to the non-conductive position, the logical value of the proximity switch 161 is changed, and no positioning success signal is generated.

[0042] The order of steps S11 to S15 in the first embodiment of the wireless charging method and steps S21 to S26 in the second embodiment is not limited to the examples disclosed in this specification and may be changed as long as the necessary information is obtained before performing each step.

[0043] In summary, with the wireless charging method of the present invention, the charging device 1 can obtain mobile device information through the first underwater wireless communication unit 12 and the second underwater wireless communication unit 22, and when the underwater mobile device 2 is held at a charging position by the position holding unit of the charging device 1, a positioning success signal is generated, and the charging device 1 can wirelessly charge the underwater mobile device 2 through the wireless charging transmitter 13 and the wireless charging receiver 23 based on the mobile device information. In addition, since the charging device 1 includes a surface wireless communication unit 14 corresponding to land wireless communication technology and a first underwater wireless communication unit 12 corresponding to underwater wireless communication technology, the charging device 1 can transmit the charging state to the management device 9 and obtain mobile device information from the underwater mobile device 2. Furthermore, the charging device 1 floating on the water surface can receive commands from the management device 9 (for example, a command to turn on / off the power of the charging device 1, a command to set the charging power of the charging device 1, a command to notify the underwater mobile device 2 to move away from the charging device 1 when the power of the charging device 1 is turned off, a command to notify the underwater mobile device 2 that needs charging to approach the charging device 1 for charging), and transmit the commands to multiple underwater mobile devices 2 underwater for integrated control. Thus, the present invention not only improves the integration of control, but also solves the problem that the charging device 1 is not visible in the underwater environment. Furthermore, this method is easy to apply, has high versatility and flexibility, and can be used in landscaping, so the cost is controllable and has high application value.

[0044] In the above description, for the purpose of explanation, numerous specific details are set forth to provide a thorough understanding of the embodiments. However, it will be apparent to one skilled in the art that one or more other embodiments may be implemented without the specific details. In addition, in the description of "one embodiment" or "one embodiment" in this specification, it should be understood that all descriptions accompanied by ordinal numbers or other indications may be included in the specific implementation of the present invention having specific aspects, structures, and features. Furthermore, in this specification, multiple variations are sometimes incorporated into one embodiment, drawing, or description thereof, but this is for the purpose of streamlining the specification and for the purpose of understanding the multiple aspects of the present invention, and one or more features or specific examples in one embodiment may be implemented together with one or more features or specific examples in other embodiments, where appropriate, in the implementation of the present invention.

[0045] Although the embodiments and modified examples of the present invention have been described above, the present invention is not limited to these, and is intended to encompass all modifications and equivalent configurations as various configurations falling within the spirit and scope of the broadest interpretation. [Explanation of symbols]

[0046] 1 Charging device 11 First control unit 12 First Underwater Wireless Communication Unit 13 Wireless charging transmitter 14 Water Radio Communication Unit 15 First positioning unit 16 Position Holding Unit 161 Proximity switch 162 Reed Switch 17 Connection Unit 2 Underwater mobility device 21 Second control unit 22 Second Underwater Radio Communication Unit 23 Wireless charging receiver 24 Rechargeable Battery 25 Second positioning unit 26 Magnet 3 Cable 9 Management device

Claims

1. A wireless charging method for charging an underwater vehicle, the wireless charging method being performed by a charging device, The charging device receives power from a cable and includes a first control unit, a first underwater wireless communication unit, a wireless charging transmitter, and a position-keeping unit, the first control unit electrically connected to the first underwater wireless communication unit, the wireless charging transmitter, and the position-keeping unit; the underwater mobile device includes a second underwater wireless communication unit, a wireless charging receiver, and a rechargeable battery; The first underwater wireless communication unit and the second underwater wireless communication unit correspond to an underwater wireless communication technology, and the wireless charging transmitter and the wireless charging receiver correspond to a wireless charging technology; The wireless charging method includes: The first control unit communicates with the second underwater wireless communication unit using the underwater wireless communication technology via the first underwater wireless communication unit to obtain mobile device information of the underwater mobile device; the position maintaining unit maintaining the underwater mobile device at a charging position and generating a positioning success signal after the underwater mobile device is maintained at the charging position; and when the positioning success signal is generated, the first control unit controls the wireless charging transmitter based on the mobile device information to charge the rechargeable battery by sending power to the wireless charging receiver using the power received from the cable through the wireless charging technology. Wireless charging method.

2. The charging device further includes a surface wireless communication unit electrically connected to the first control unit and compatible with land-based wireless communication technology; The wireless charging method further includes a step in which the first control unit transmits charging device information of the charging device to a management device corresponding to the onshore wireless communication technology via the waterborne wireless communication unit by the onshore wireless communication technology. The wireless charging method according to claim 1 .

3. the charging device further includes a first positioning unit electrically connected to the first control unit; The wireless charging method further includes a step in which the first control unit obtains location information of the charging device using the first positioning unit, and the charging device information includes the location information of the charging device and a charging status indicating whether the charging device is charging the underwater mobile device. The wireless charging method according to claim 2 .

4. The underwater mobile device further includes a second control unit and a second positioning unit, the second control unit electrically connected to the second underwater wireless communication unit, the wireless charging receiver, the rechargeable battery, and the second positioning unit; The wireless charging method is further performed by the underwater vehicle, When it is determined that a charging condition is satisfied, the second control unit controls the underwater vehicle to ascend, and obtains position information of the underwater vehicle via the second positioning unit; The second control unit communicates with the first underwater wireless communication unit using the underwater wireless communication technology via the second underwater wireless communication unit to obtain the position information of the charging device; and controlling the second control unit to move the underwater mobile device closer to the charging device based on the position information of the underwater mobile device and the position information of the charging device. The wireless charging method according to claim 3.

5. the first positioning unit supports one of a Global Positioning System (GPS), an Ultra Wideband System (UWB), and a Bluetooth; The location information of the charging device is obtained by the first positioning unit using one of a Global Positioning System (GPS), an Ultra Wideband System (UWB), and Bluetooth; The land wireless communication technology uses one of Wi-Fi, a fourth generation mobile communication system (4G), and a fifth generation mobile communication system (5G); The wireless charging method according to claim 3.

6. The wireless charging method according to claim 1 , wherein the underwater wireless communication technology uses one of ultrasonic waves and radio waves in a LoRa (Long Range) wireless communication system as a transmission medium.

7. The underwater vehicle further includes a magnet; the position-maintaining unit includes a proximity switch, the proximity switch including a reed switch; when the underwater mobile device is held at the charging position, the magnet drives the reed switch from a non-conducting position to a conducting position, whereby the position-holding unit generates the positioning success signal. The wireless charging method according to claim 1 .

8. 2. The wireless charging method of claim 1, wherein the wireless charging technology complies with one of the Qi standard, a standard established by the Alliance for Wireless Power (A4WP), and a standard established by the Power Matters Alliance (PMA).

9. the charging device further includes a connection unit electrically connected to the first control unit and electrically connected to a connection unit of another charging device via another cable; The wireless charging method further includes a step of the first control unit sending the power received from the cable to the other charging device via the connection unit and the other cable. The wireless charging method according to claim 1 .

10. A charging device configured to charge an underwater moving device compatible with underwater wireless communication technology and wireless charging technology, The charging device receives power from a cable, and includes a control unit, an underwater wireless communication unit corresponding to the underwater wireless communication technology, a wireless charging transmitter corresponding to the wireless charging technology, and a position holding unit, the control unit is electrically connected to the underwater wireless communication unit, the wireless charging transmitter, and the position holding unit; the position maintaining unit is configured to maintain the underwater mobile device at a charging position and generate a positioning success signal after the underwater mobile device is maintained at the charging position; The control unit obtaining mobility device information of the underwater mobility device using the underwater wireless communication technology via the underwater wireless communication unit; and when the positioning success signal is generated by the position maintaining unit, the position maintaining unit is configured to control the wireless charging transmitter based on the mobile device information to charge the underwater mobile device by sending power to the underwater mobile device using the power received from the cable via the wireless charging technology. Charging device.

11. a water-based wireless communication unit electrically connected to the control unit and compatible with land-based wireless communication technology; The control unit is further configured to transmit charging device information of the charging device to a management device corresponding to the land wireless communication technology via the water wireless communication unit by the land wireless communication technology. The charging device according to claim 10.

12. a positioning unit electrically connected to the control unit; The control unit is further configured to obtain location information of the charging device using the positioning unit; the charging device information includes the location information of the charging device and a charging status indicating whether the charging device is charging the underwater vehicle device; The charging device according to claim 11.

13. The control unit is further configured to transmit the position information of the charging device to the underwater mobile device using the underwater wireless communication technology via the underwater wireless communication unit, so that the underwater mobile device can approach the charging device based on the received position information of the charging device.

13. The charging device according to claim 12.

14. the positioning unit supports one of a Global Positioning System (GPS), an Ultra Wideband System (UWB), and Bluetooth; The land wireless communication technology uses one of Wi-Fi, a fourth generation mobile communication system (4G), and a fifth generation mobile communication system (5G); 13. The charging device according to claim 12.

15. The underwater wireless communication technology uses one of ultrasonic waves and radio waves in a LoRa (Long Range) wireless communication system as a transmission medium. The charging device according to claim 10.

16. the position-maintaining unit includes a proximity switch, the proximity switch including a reed switch; the position holding unit is configured to generate the positioning success signal by driving the reed switch from a non-conducting position to a conducting position by a magnet included in the underwater mobile device when the underwater mobile device is held at the charging position. The charging device according to claim 10.

17. The wireless charging technology complies with one of the Qi standard, a standard established by the Alliance for Wireless Power (A4WP), and a standard established by the Power Matters Alliance (PMA); The charging device according to claim 10.

18. a connection unit electrically connected to the control unit and electrically connected to a connection unit of another charging device via another cable; the control unit is further configured to send the power received from the cable to the other charging device via the connection unit and the other cable. The charging device according to claim 10.

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