CN104979882A - Quick charging system for unmanned aerial vehicle and charging method thereof - Google Patents
Quick charging system for unmanned aerial vehicle and charging method thereof Download PDFInfo
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Abstract
The invention discloses a quick charging system for an unmanned aerial vehicle and a charging method thereof, wherein the quick charging system and the charging method belong to the field of unmanned aerial vehicle charging. The quick charging system for the unmanned aerial vehicle comprises a supporting module, a positioning module and a charging module. The supporting module is used for assisting the unmanned aerial vehicle body in landing and supporting the unmanned aerial vehicle body. The positioning module is used for performing return positioning on the unmanned aerial vehicle body so that the unmanned aerial vehicle body lands on the supporting module. The charging module is used for controlling a charging process. The charging method according to the quick charging system comprises an unmanned aerial vehicle body returning step, an image acquiring and positioning step, a quick landing step, a charging step, etc. The charging process comprises three periods, namely pre-charging, multi-step constant-current charging and pulse charging. According to the quick charging system, the supporting module is combined with other modules for forming a complete charging system, so that the unmanned aerial vehicle body can accurately and quickly land on the supporting module, thereby greatly improving charging efficiency and realizing high autonomy and convenient use.
Description
Technical field
The present invention relates to unmanned plane charging technique field, more particularly, relate to a kind of unmanned plane quick charging system and charging method thereof.
Background technology
Along with the development of science and technology, unmanned plane, particularly four rotor wing unmanned aerial vehicle technology are now more and more ripe, also more and more stable to the control of unmanned plane, relevant military affairs, the disaster relief, civilian on application all grow a lot.Such as, Amazon and suitable rich express company all send the technology of express delivery recently at research and development unmanned plane.But the great bottleneck of of this technology is that the flying power of unmanned plane is low, and unmanned plane is substantially all rely on powered battery, can carry electricity limited, be difficult to work long hours.In addition, in hidden danger peak period or when running into accident, unmanned plane timing or continuous operation is needed, need people supervise ensure its reclaim charging in the course of the work, so not only affect operating efficiency, and when working outside, charging is also inconvenient, affects effective execution of task.
Mostly current most of unmanned plane is to adopt the method changing battery to strengthen flying power, and high-frequency dismounting easily damages frame and electronic component thereof, and it is comparatively large to the dependence of people to change battery, and unmanned plane automatic charging technology will be new development trend.Through retrieval, relevant technical scheme is there is open in prior art, as China Patent No.: ZL 201220461117.6, authorized announcement date: on May 8th, 2013, this application case discloses a kind of unmanned plane and automatic charging system thereof, comprise: supply module, for providing charge power supply for described unmanned plane; Unmanned plane charging module, for being arranged on electric energy unmanned plane receiving described supply module and provide; Time control module, takes off and the homeward charging of timing for controlling the timing of described unmanned plane., in specific implementation process, still there is more problem in the abstractdesription of the program just to charging system.
And for example Chinese Patent Application No.: 201510183600.0, the applying date: on April 19th, 2015, this application case discloses a kind of unmanned plane charging pile and charging method thereof, comprise electric pushrod, protruding and communication module, the charging panel of rotor wing unmanned aerial vehicle is fixed with projection, four projections are one group, form a square, projection is covered with charging panel, forms multiple square; Telescopic electric pushrod is arranged on the surrounding of charging panel, and in the gap that the sawtooth projection embedding charging panel bottom bumper bracket convexes to form, rotor wing unmanned aerial vehicle can not move horizontally; Drop to after on charging panel in rotor wing unmanned aerial vehicle smooth flight, send signal without gyroplane to communication module, after charging module receives signal, send instruction to electric pushrod, electric pushrod stretches out, bottom the bumper bracket of fixing rotor wing unmanned aerial vehicle.Unmanned plane in this programme is difficult to accurate location when landing, and independence is poor, and charge efficiency is low, requires further improvement.
Summary of the invention
1. invent the technical problem that will solve
The object of the invention is to overcome unmanned plane in prior art and make a return voyage that location efficiency is low, independence is poor, slow deficiency of charging, provide a kind of unmanned plane quick charging system and charging method thereof, unmanned plane of the present invention can drop to supporting module accurately and rapidly, and charging process is divided into three phases, substantially increase charge efficiency, independence is high, easy to use.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of unmanned plane quick charging system of the present invention, comprises supporting module, locating module and charging module, and described supporting module is used for auxiliary unmanned plane body and lands and support unmanned plane body; Described locating module is used for the location of making a return voyage of unmanned plane body, makes unmanned plane body drop on supporting module; Described charging module is for controlling the charging process to unmanned plane body.
As further improvement of the present invention, also comprise electric power detection module, described electric power detection module installation is on unmanned plane body, and for detecting the battery condition of storage battery, charging module controls charging process according to the real-time voltage of input voltage when battery condition, charging and storage battery.
As further improvement of the present invention, described supporting module comprises base, unmanned plane bearing and contact electrode group, described unmanned plane bearing vertical feet is arranged, and the arrangement mode of unmanned plane bearing is corresponding with the set-up mode of the rotor support of unmanned plane body; Symmetry arrangement is on base between two for described contact electrode group, and during charging, the electrode nipple of contact electrode group is electrically connected with the storage battery interface of unmanned plane body.
As further improvement of the present invention, described unmanned plane bearing is cylindrical, unmanned plane bearing is offered the V-shaped groove of length direction, the opening of this V-shaped groove is towards base center, and opening angle is 80 ~ 150 °, and the center of unmanned plane bearing offers the circular hole be communicated with V-shaped groove, unmanned plane bearing upper end is top bump, the two sides of this top bump are inclined plane, and after the landing of unmanned plane body, top bump and rotor support are linear contact lay.
As further improvement of the present invention, described contact electrode group comprises push rod, supporting leg and stepping motor, and described stepping motor is fixed on base by motor support base; Described push rod one end is connected with the driving shaft of stepping motor, the push rod other end is provided with electrode nipple, storage battery interface is provided with corresponding spring electrode sheet, and is connected with pressure sensor on spring electrode sheet, during charging, electrode nipple contacts with spring electrode sheet.
As further improvement of the present invention, be provided with stopper slot on the downside of described push rod, stopper slot two ends are provided with limit switch, this limit switch is electrically connected with stepping motor; Described supporting leg one end is fixedly connected with base, and the supporting leg other end stretches in stopper slot, stretches move back length for limiting push rod.
As further improvement of the present invention, described locating module comprises positioning unit, image unit, range cells and control unit, described positioning unit is ultrasonic wave location, the heart is provided with ultrasonic sensor in the base, this positioning unit obtains position and the flight attitude of unmanned plane body, to control the return route of unmanned plane body according to the ultrasonic signal received; Described image unit is for gathering the image information on base; Described range cells is for obtaining the elevation information of unmanned plane body; Described control unit controls unmanned plane body according to return route and flight attitude and makes a return voyage, and sends instruction control the landing of unmanned plane body according to image information and elevation information.
As further improvement of the present invention, the image on described base is back-shaped image.
As further improvement of the present invention, described range cells is infrared distance measuring, the rotor support of unmanned plane body is provided with infrared transmitter, is provided with infrared inductor in the centre bore of unmanned plane bearing.
The charging method of a kind of unmanned plane quick charging system of the present invention, it charged and was called:
Positioning unit in step one, unmanned plane quick charging system sends positional information and the flight attitude that ultrasound locating signal obtains unmanned plane body, and the adjustment control unmanned plane body through control unit makes a return voyage above base;
Step 2, image unit gather back-shaped image information, first each hot spot pixel is obtained to the face square of its relative camera origin of coordinates, the face square of each pixel is added up, then obtains the integration of all pixel grayscale of hot spot, ask position of centre of gravity according to grey scale centre of gravity method, computing formula is:
Wherein, x is the lateral coordinates of back-shaped image (101) center;
Y is the along slope coordinate of back-shaped image (101) center;
F (i, j) is the face square of each hot spot pixel relative camera origin of coordinates;
I is the laser image spot prime number in lateral coordinates, and j is the laser image spot prime number on longitudinal direction; Then try to achieve the coordinate position of the relative unmanned plane body of back-shaped image, control unit is according to the position of positional information adjustment unmanned plane body;
After step 3, step 2 complete, unmanned plane body is positioned at directly over base, and now infrared transmitter starts, and control unit controls unmanned plane body according to image information and elevation information and drop on unmanned plane bearing;
Trigger stepping motor after the landing of unmanned plane body in step 4, step 3 to start, push rod stretches out and electrode nipple is contacted with spring electrode sheet, and detects contact by pressure sensor;
After in step 5, step 4, contact reaches preset value, charging module starts as charge in batteries, and charging process is divided into precharge, constant-current charge in stages and pulse current charge three phases;
When step 6, electric power detection module detect that electricity is sufficient, charging module triggers stepping motor reverse starting, and push rod is return, and after supporting leg touches limit switch, stepping motor stops, and completes charging.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with prior art, there is following beneficial effect:
(1) a kind of unmanned plane quick charging system of the present invention, its supporting module is that unmanned plane body provides landing carrier, this supporting module combines with locating module, achieve make a return voyage, locate, the full automation that lands operation, improve accuracy and the efficiency of positioning landing;
(2) a kind of unmanned plane quick charging system of the present invention, unmanned plane bearing is cylindrical, and offers V-shaped groove, and V-shaped groove opening angle can set according to the size of rotor support, prevent landing time and rotor support interfere; The center of unmanned plane bearing offers circular hole, in circular hole, be provided with infrared inductor, is convenient to accurately receive infrared signal; Unmanned plane bearing upper end is top bump, and the two sides of this top bump are inclined plane, and top bump and rotor support are linear contact lay, contributes to unmanned plane body on the one hand and accurately feels relieved, and can ensure the stability of unmanned plane body on the other hand;
(3) a kind of unmanned plane quick charging system of the present invention, base is provided with four contact electrode groups, accelerates charging rate; On the downside of the push rod of contact electrode group, be provided with stopper slot, the limit switch in stopper slot matches with supporting leg, can excessively stretch out by anti-throw-out lever, again can after charging complete autostop, fully demonstrated independence and the security performance of this charging system;
(4) charging method of a kind of unmanned plane charging system of the present invention, ultrasonic technology, framing technology and infrared distance measuring technology are combined, unmanned plane body is dropped on supporting module fast and accurately, saves the time of unmanned plane charging; Its charging process is divided into three phases: small area analysis precharge, constant-current charge in stages and large current pulse charging, and small area analysis precharge can make the chemical property of storage battery recover gradually, extends battery; Constant-current charge in stages can reduce the fall of each stage charging current, improves charge efficiency; When battery tension is close to peak, storage battery polarization phenomena strengthen gradually, adopting heavy current pulse intermittently to carry out charging to storage battery makes voltage rise rapidly, thus elimination polarization phenomena, for next current impulse charging creates conditions smoothly, pulse current charge increases charging current, improves charge efficiency, reaches the effect of quick charge.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of unmanned plane quick charging system of the present invention;
Fig. 2 is the structural representation of contact electrode group in the present invention;
Fig. 3 is the structural representation of unmanned plane bearing in the present invention;
Fig. 4 is the plan structure schematic diagram of unmanned plane bearing in Fig. 3;
Fig. 5 is the structural representation of push rod in the present invention;
Fig. 6 is the structural representation of back-shaped image in the present invention;
Fig. 7 is each angle schematic diagram of unmanned plane body flight attitude in positioning unit of the present invention;
Fig. 8 is the system flow schematic diagram of charging method of the present invention.
Label declaration in schematic diagram: 1, base; 101, back-shaped image; 2, unmanned plane body; 3, push rod; 301, stopper slot; 4, shaft coupling; 5, stepping motor; 6, motor support base; 7, supporting leg; 8, unmanned plane bearing; 801, top bump.
Embodiment
For understanding content of the present invention further, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
Composition graphs 1 ~ Fig. 6, a kind of unmanned plane quick charging system of the present embodiment, primarily of compositions such as supporting module, locating module, charging module and electric power detection modules, wherein, supporting module is used for auxiliary unmanned plane body 2 and lands and support unmanned plane body 2; Locating module is used for the location of making a return voyage of unmanned plane body 2, makes unmanned plane body 2 drop on supporting module; Described charging module is for controlling the charging process to unmanned plane body 2.
Supporting module in the present embodiment comprises base 1, unmanned plane bearing 8 and contact electrode group, and base 1 is cuboid structure, is provided with 4 spud piles, i.e. unmanned plane bearing 8 in the corner of base 1.This unmanned plane bearing 8 vertical feet 1 is arranged, and the arrangement mode of unmanned plane bearing 8 is corresponding with the set-up mode of the rotor support of unmanned plane body 2, namely the length of the spacing distance of unmanned plane bearing 8 and interval angles and rotor support and interval angles corresponding, unmanned plane body 2 in the present embodiment is quadrotor, therefore on base 1,4 unmanned plane bearings 8 are provided with, make the corresponding rotor support of each unmanned plane bearing 8, play a supporting role.
Referring to Fig. 3, Fig. 4, for the ease of the landing of unmanned plane body 2, and just can drop to the center of base 1, the unmanned plane bearing 8 adopted is cylindrical, unmanned plane bearing 8 is offered the V-shaped groove of length direction, the scope of the opening angle of this V-shaped groove can be 80 ~ 150 °, and V-shaped groove opening is towards the center of base 1.When unmanned plane body 2 lands, this V-shaped groove can avoid rotor support and unmanned plane bearing 8 interfere and affect the stationarity of landing, V-shaped groove opening angle can set according to the used size of rotor support or the size of motor bottom, selects 120 ° in the present embodiment.In addition, offer circular hole at the center of unmanned plane bearing 8, this circular hole is communicated with V-shaped groove, in circular hole, be provided with infrared inductor, and this infrared inductor is used for carrying out range determination when unmanned plane body 2 lands, and lands with auxiliary unmanned plane body 2.Unmanned plane bearing 8 upper end is top bump 801, and the two sides of this top bump 801 are inclined plane, and the inclination angle of interior lateral incline is larger.The medial slope of top bump 801 surrounds the cavity of back taper, to place rotor motor, make it just can be positioned at the center of unmanned plane bearing 8, therefore unmanned plane body 2 accurately can drop to the center of base 1.If rotor motor is less, cannot contact with medial slope and support whole body, then by the stupefied power of providing support in the top of top bump 801, after unmanned plane body 2 lands, top bump 801 and the curved linear contact lay of rotor support, ensure that the stability of unmanned plane body 2.
Symmetry arrangement is on base 1 between two for contact electrode group in the present embodiment, and owing to adopting quadrotor, base 1 is provided with 4 contact electrode groups, and during charging, the electrode nipple of contact electrode group is electrically connected with the storage battery interface of unmanned plane body 2.This contact electrode group and unmanned plane bearing 8 interval are arranged, can charge at the four sides of unmanned plane body 2 simultaneously, improve charge efficiency.
Referring to Fig. 2, above-mentioned contact electrode group comprises push rod 3, supporting leg 7 and stepping motor 5, and stepping motor 5 is fixed on base 1 by motor support base 6; Described push rod 3 one end is connected with the driving shaft of stepping motor 5 by shaft coupling 4, and push rod 3 other end is provided with electrode nipple, then, when stepping motor 5 works, be rectilinear motion convert rotational motion, makes push rod 3 stretch out or return.The storage battery interface of unmanned plane body 2 is provided with corresponding spring electrode sheet, and after push rod 3 stretches out, electrode nipple contacts with spring electrode sheet, and charging module is connected with storage battery, can carry out subsequent charge.In addition, in order to ensure that electrode nipple contacts well with spring electrode sheet, spring electrode sheet is connected with pressure sensor, when push rod 3 applied pressure that pressure sensor senses reaches preset value, trigger stepping motor 5 to stop, completing the preparation before charging.Because contact electrode group symmetry arrangement between two, the power that thus push rod 3 is applied on unmanned plane body 2 is cancelled out each other, and unmanned plane body 2 can not be made to depart from center, without the need to manual monitoring adjustment, reasonable in design.
Referring to Fig. 5, be provided with stopper slot 301 on the downside of push rod 3, stopper slot 301 two ends are provided with limit switch, and this limit switch is electrically connected with stepping motor 5, and after touching limit switch, stepping motor 5 quits work.Select in the present embodiment supporting leg 7 and stopper slot 301 with the use of, supporting leg 7 one end is fixedly connected with base 1, and supporting leg 7 other end stretches in stopper slot 301, when push rod 3 moves, supporting leg 7 relatively slides in stopper slot 301, stretches move back length for limiting push rod 3.Namely when charging, push rod 3 stretches out, and quits work primarily of pressure sensor control step motor 5, once pressure sensor lost efficacy, limit switch can form second protection, and anti-throw-out lever 3 excessively stretches out; After charging complete, stepping motor 5 reverses, and push rod 3 touches the limit switch near electrode nipple side in stopper slot 301, and stepping motor 5 quits work.Therefore this structural design can excessively be stretched out by anti-throw-out lever 3, again can after charging complete autostop, fully demonstrated independence and the security performance of this charging system.In addition, supporting leg 7 can also improve the structural strength of push rod 3, anti-throw-out lever 3 because of self gravitation sagging, make it accurately contact with spring electrode sheet.
Electric power detection module installation in the present embodiment on unmanned plane body 2, for detecting the battery condition of storage battery.Be connected with display screen with this electric power detection module, this display screen can export information about power in real time.Charging module comprises master controller, counterattack converter and charger, master controller obtains battery condition, the real-time input voltage of charger and the real-time voltage of storage battery by electric power detection module, calculate the duty ratio controlling anti exciting converter main switch ON time, export the PWM ripple of corresponding duty ratio, realize the control to charging process.
The locating module of the present embodiment comprises positioning unit, image unit, range cells and control unit, described positioning unit is ultrasonic wave location, base 1 center is provided with ultrasonic sensor, this positioning unit obtains position and the flight attitude of unmanned plane body 2, to control the return route of unmanned plane body 2 according to the ultrasonic signal received.
Described image unit is for gathering the image information on base 1, and the image in the present embodiment on base 1 is back-shaped image 101, as shown in Figure 6, adopts back-shaped image 101 to be convenient to closely identify location and adjustment attitude, accurately to land as charging is prepared.In addition, unmanned plane body 2 vertical landing can be kept in descent, be connected to ensure that electrode nipple can be aimed at smoothly with spring electrode sheet.
Range cells in the present embodiment is for obtaining the elevation information of unmanned plane body 2, particularly, this range cells is infrared distance measuring, the rotor support of unmanned plane body 2 is provided with infrared transmitter, infrared inductor is provided with in the centre bore of unmanned plane bearing 8, when unmanned plane body 2 is positioned at directly over base 1, control unit adjusts sinking speed according to the distance between unmanned plane body 2 and base 1, stable flight attitude can be kept in descent, further increase the accuracy of landing.
Referring to Fig. 8, the charging method of a kind of unmanned plane quick charging system in the present embodiment, its charging process is:
Step one, positioning unit send positional information and the flight attitude that ultrasound locating signal obtains unmanned plane body 2, and the adjustment through control unit controls to make unmanned plane body 2 make a return voyage above base 1;
Base 1 is set up and has world coordinate system, positioning unit obtains positional information and the flight attitude of unmanned plane body 2 with this world coordinate system.First choosing Xc axle forward is ideal course as outlined, the yaw angle of unmanned plane body 2 be Xc axle in camera coordinate system at world coordinate system as planar S
won projection and its Xc axle between angle, and regulation clockwise direction be just, similarly, the angle of pitch of unmanned plane body 2 is φ, and roll angle is θ, as shown in Figure 7.According to the definition of yaw angle, can be obtained by two point coordinates:
(X
1/C, Y
1/C) coordinate of first selected point that obtains for positioning unit;
(X
3/C, Y
3/C) coordinate of the 3rd selected point that obtains for positioning unit;
In camera coordinate system, as planar S
wnormal vector
value is (cos α, cos β, cos γ), and under world coordinate system, its value is (0,0,1), can be obtained by rotation transformation:
(0 0 1)
T＝R
cw(cosα cosβ cosγ)
T
Yi Zhi:
Wherein,
Due to cos α, cos β, cos γ and yaw angle ψ is known, can be tried to achieve the analytic expression of the angle of pitch and roll angle by above formula:
The flight attitude of unmanned plane body 2 can be obtained thus, and constantly adjusted by control unit, make it make a return voyage above base 1.
Step 2, after step one, unmanned plane body 2 is comparatively near apart from base 1 position, gathers back-shaped image 101 information by image unit;
First back-shaped image 101 hot spot pixel is obtained to the face square of its relative camera coordinate origin, added up by the face square of each pixel, then obtain the integration of all pixel grayscale of hot spot, ask position of centre of gravity according to grey scale centre of gravity method, computing formula is:
Wherein: x is the lateral coordinates of back-shaped image (101) center;
Y is the along slope coordinate of back-shaped image (101) center;
F (i, j) is the face square of each hot spot pixel relative camera origin of coordinates;
I is the laser image spot prime number in lateral coordinates, and j is the laser image spot prime number on longitudinal direction;
The coordinate (x, y) obtained is the coordinate position of center in camera coordinate system of back-shaped image 101, and control unit, according to the position of the feedback adjusting unmanned plane body 2 of positional information, is located at directly over base 1.
After step 3, step 2 complete, unmanned plane body 2 is positioned at directly over base 1, rotor support is corresponding with unmanned plane bearing 8, now infrared transmitter starts, infrared inductor in unmanned plane bearing 8 receives infrared signal, and range information is delivered to control unit, control unit controls unmanned plane body 2 according to elevation information and drop on unmanned plane bearing 8.
Inspire stepping motor 5 after unmanned plane body 2 landing in step 4, step 3 to start, push rod 3 stretches out and electrode nipple is contacted with spring electrode sheet, and detects contact by pressure sensor, and when contact reaches set point, then stepping motor 5 stops;
In step 5, step 4, stepping motor 5 stops rear charging module to start as charge in batteries, and charging process is divided into precharge, constant-current charge in stages and pulse current charge three phases;
The chemical characteristic of storage battery can be made to be restored gradually by small area analysis precharge, after reaching threshold values, enter the constant-current charge in stages stage, namely first use larger current charging, after voltage rises to certain value rapidly, suitable reduction electric current, again reduce electric current after a period of time, through repeatedly repeatedly charging, battery tension is close to rated voltage, now constant-current charge in stages terminates, and enters the pulse current charge stage; When battery tension is close to rated voltage, polarization phenomena strengthen gradually, and large current pulse charging makes voltage rise rapidly, and stop filling the chemical reaction buffer time that Shi Zehui increases inside battery, thus elimination polarization phenomena, for next current impulse charging creates conditions smoothly.
When step 6, electric power detection module detect that electricity is sufficient, show " electricity is full " information on a display screen, charging module inspires stepping motor 5 reverse starting, and push rod 3 is return, and after supporting leg 7 touches limit switch, stepping motor 5 stops, and completes charging.
Quick charging system of the present invention and charging method thereof, improve make a return voyage, location efficiency, the structural design of its supporting module is that automation charging provides the foundation, and 4 interfaces can be charge in batteries simultaneously, substantially increase charge efficiency.
Schematically above be described the present invention and execution mode thereof, this description does not have restricted, and also just one of the embodiments of the present invention shown in accompanying drawing, actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (10)
1. a unmanned plane quick charging system, is characterized in that: comprise supporting module, locating module and charging module, and described supporting module is used for auxiliary unmanned plane body (2) and lands and support unmanned plane body (2); Described locating module is used for the location of making a return voyage of unmanned plane body (2), makes unmanned plane body (2) drop on supporting module; Described charging module is used for controlling the charging process to unmanned plane body (2).
2. a kind of unmanned plane quick charging system according to claim 1, it is characterized in that: also comprise electric power detection module, described electric power detection module installation is on unmanned plane body (2), for detecting the battery condition of storage battery, charging module controls charging process according to the real-time voltage of input voltage when battery condition, charging and storage battery.
3. a kind of unmanned plane quick charging system according to claim 1, it is characterized in that: described supporting module comprises base (1), unmanned plane bearing (8) and contact electrode group, described unmanned plane bearing (8) vertical feet (1) is arranged, and the arrangement mode of unmanned plane bearing (8) is corresponding with the set-up mode of the rotor support of unmanned plane body (2); Symmetry arrangement is on base (1) between two for described contact electrode group, and during charging, the electrode nipple of contact electrode group is electrically connected with the storage battery interface of unmanned plane body (2).
4. a kind of unmanned plane quick charging system according to any one of claim 1 to 3, it is characterized in that: described unmanned plane bearing (8) is for cylindrical, unmanned plane bearing (8) is offered the V-shaped groove of length direction, the opening of this V-shaped groove is towards base (1) center, and opening angle is 80 ~ 150 °, the center of unmanned plane bearing (8) offers the circular hole be communicated with V-shaped groove, unmanned plane bearing (8) upper end is top bump (801), the two sides of this top bump (801) are inclined plane, after unmanned plane body (2) landing, top bump (801) and rotor support are linear contact lay.
5. a kind of unmanned plane quick charging system according to claim 4, it is characterized in that: described contact electrode group comprises push rod (3), supporting leg (7) and stepping motor (5), described stepping motor (5) is fixed on base (1) by motor support base (6); Described push rod (3) one end is connected with the driving shaft of stepping motor (5), push rod (3) other end is provided with electrode nipple, storage battery interface is provided with corresponding spring electrode sheet, and pressure sensor is connected with on spring electrode sheet, during charging, electrode nipple contacts with spring electrode sheet.
6. a kind of unmanned plane quick charging system according to claim 5, it is characterized in that: described push rod (3) downside is provided with stopper slot (301), stopper slot (301) two ends are provided with limit switch, and this limit switch is electrically connected with stepping motor (5); Described supporting leg (7) one end is fixedly connected with base (1), and supporting leg (7) other end stretches in stopper slot (301), stretches move back length for limiting push rod (3).
7. a kind of unmanned plane quick charging system according to any one of claim 3 ~ 6, it is characterized in that: described locating module comprises positioning unit, image unit, range cells and control unit, described positioning unit is ultrasonic wave location, base (1) center is provided with ultrasonic sensor, this positioning unit obtains position and the flight attitude of unmanned plane body (2), to control the return route of unmanned plane body (2) according to the ultrasonic signal received; Described image unit is for gathering the image information on base (1); Described range cells is for obtaining the elevation information of unmanned plane body (2); Described control unit controls unmanned plane body (2) according to return route and flight attitude and makes a return voyage, and sends instruction control unmanned plane body (2) landing according to image information and elevation information.
8. a kind of unmanned plane quick charging system according to claim 7, is characterized in that: the image on described base (1) is back-shaped image (101).
9. a kind of unmanned plane quick charging system according to claim 7, it is characterized in that: described range cells is infrared distance measuring, the rotor support of unmanned plane body (2) is provided with infrared transmitter, in the centre bore of unmanned plane bearing (8), is provided with infrared inductor.
10. a charging method for unmanned plane quick charging system, its charging process is:
Positioning unit in step one, unmanned plane quick charging system sends positional information and the flight attitude that ultrasound locating signal obtains unmanned plane body (2), and adjustment control unmanned plane body (2) through control unit is maked a return voyage to base (1) top;
Step 2, image unit gather back-shaped image (101) information, first each hot spot pixel is obtained to the face square of its relative camera origin of coordinates, the face square of each pixel is added up, obtain the integration of all pixel grayscale of hot spot again, ask position of centre of gravity according to grey scale centre of gravity method, computing formula is:
Wherein, x is the lateral coordinates of back-shaped image (101) center;
Y is the along slope coordinate of back-shaped image (101) center;
F (i, j) is the face square of each hot spot pixel relative camera origin of coordinates;
I is the laser image spot prime number in lateral coordinates, and j is the laser image spot prime number on longitudinal direction;
Then try to achieve the coordinate position of the relative unmanned plane body (2) of back-shaped image (101), control unit is according to the position of positional information adjustment unmanned plane body (2);
After step 3, step 2 complete, unmanned plane body (2) is positioned at directly over base (1), now infrared transmitter starts, and control unit controls unmanned plane body (2) according to image information and elevation information and drop on unmanned plane bearing (8);
Trigger stepping motor (5) after unmanned plane body (2) landing in step 4, step 3 to start, push rod (3) stretches out and electrode nipple is contacted with spring electrode sheet, and detects contact by pressure sensor;
After in step 5, step 4, contact reaches preset value, charging module starts as charge in batteries, and charging process is divided into precharge, constant-current charge in stages and pulse current charge three phases;
When step 6, electric power detection module detect that electricity is sufficient, charging module triggers stepping motor (5) reverse starting, push rod (3) is return, and after supporting leg (7) touches limit switch, stepping motor (5) stops, and completes charging.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510465031.9A CN104979882B (en) | 2015-07-30 | 2015-07-30 | A kind of unmanned plane quick charging system and its charging method |
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| CN108945504A (en) * | 2018-07-06 | 2018-12-07 | 上海歌尔泰克机器人有限公司 | Unmanned plane charging unit, method and computer readable storage medium |
| CN108945504B (en) * | 2018-07-06 | 2021-07-13 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle charging device and method and computer readable storage medium |
| CN110243352A (en) * | 2019-06-19 | 2019-09-17 | 太原理工大学 | A kind of full-automatic topographic map plotting board and its mapping method |
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| CN112787133B (en) * | 2019-11-06 | 2023-01-24 | 智慧式控股有限公司 | Mobile socket board with plug power-off, electric shock prevention and electric fire hazard monitoring functions |
| CN111147727A (en) * | 2020-01-16 | 2020-05-12 | 冀湘元 | Three-dimensional space mobile monitoring system and installation, use and accurate landing method |
| CN112660011A (en) * | 2020-12-23 | 2021-04-16 | 海南电网有限责任公司琼海供电局 | Unmanned aerial vehicle intelligent inspection operation vehicle for power transmission line |
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| CN116395165A (en) * | 2023-06-08 | 2023-07-07 | 成都航空职业技术学院 | Relay planting unmanned aerial vehicle system and charging method thereof |
| CN116395165B (en) * | 2023-06-08 | 2023-10-13 | 成都航空职业技术学院 | Relay planting unmanned aerial vehicle system and charging method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104979882B (en) | 2017-03-01 |
| CN106712160A (en) | 2017-05-24 |
| CN106712160B (en) | 2019-05-21 |
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