CN106786956A - Colony's unmanned plane electric supply installation - Google Patents
Colony's unmanned plane electric supply installation Download PDFInfo
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- CN106786956A CN106786956A CN201710017772.XA CN201710017772A CN106786956A CN 106786956 A CN106786956 A CN 106786956A CN 201710017772 A CN201710017772 A CN 201710017772A CN 106786956 A CN106786956 A CN 106786956A
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- 238000009434 installation Methods 0.000 title claims abstract description 21
- 230000008878 coupling Effects 0.000 claims abstract description 12
- 238000010168 coupling process Methods 0.000 claims abstract description 12
- 238000005859 coupling reaction Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 239000000446 fuel Substances 0.000 claims abstract description 4
- 239000000295 fuel oil Substances 0.000 claims abstract description 4
- 239000003463 adsorbent Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 description 13
- 238000001914 filtration Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
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- 230000005672 electromagnetic field Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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Classifications
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- H02J7/025—
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- H02J5/005—
Abstract
The invention discloses colony's unmanned plane electric supply installation that a kind of non-contact type based on electromagnetic coupled charges, including：Main frame, the main frame, for it provides fuel, carries at least one power supply, including multiple transmitting terminals by fuel oil, and each transmitting terminal has transmitting coil and first resonance coil corresponding with transmitting coil, and the power supply is electrically connected with the transmitting terminal；And at least one unmanned plane, each unmanned plane carries repeatable charging device, and each unmanned plane includes a receiving terminal, the receiving terminal has receiving coil and second resonance coil corresponding with receiving coil, the receiving terminal is electrically connected with the repeatable charging device, wherein each transmitting terminal can charge for a unmanned plane, and the transmitting coil, first resonance coil, second resonance coil and receiving coil constitute an electromagentic resonance formula coupling mechanism, and the main frame also includes a landing platform, the landing platform is attached on the base of main frame to be used to support the unmanned plane.
Description
Technical field
The present invention relates to a kind of unmanned plane electric power system, more particularly to a kind of non-contact type based on electromagnetic coupled charges
Colony's unmanned plane electric supply installation, the continuation of the journey of unmanned plane is ensured for being charged to multiple SUAVs simultaneously.
Background technology
And have it is man-machine compared with, unmanned plane has many advantages：It is small and light and be difficult to be found, development and maintenance cost is low,
Mobility is good, landing requirement is low.Popular with unmanned plane, its application field has covered scientific research, civilian and military affairs.The world
On be engaged in unmanned plane research and production country already exceed 30, unmanned plane basic model quantity has increased to kind more than 300.
In all index of assessment unmanned plane performance quality, the endurance of unmanned plane is an important index, and
Voyage long is also one of Main Trends of The Development of unmanned plane from now on.For unmanned plane, longer endurance means that
Can more efficiently, sustainably complete task, particularly in the future war raced against time, course continuation mileage long can just rise
Acted on to battle field information is constantly obtained.Battery and oil gas unmanned plane can be provided on Vehicles Collected from Market, at present maximum battery
Unmanned plane can only probably be navigated by water 1 hour or so；Relative to battery unmanned plane, the time that oil gas unmanned plane can be navigated by water is relatively long
A lot, but oil gas unmanned plane is no matter from sensitivity or volume, all be not as flexible as battery unmanned plane.
At present from energy angle, the approach for increasing unmanned plane course continuation mileage is summarized to get up to can be divided mainly into two kinds：Take
Repeatedly electric energy supply is carried out with more electric energy or in task.For the former, due to the battery skill of current comparative maturity
Art has had evolved to bottleneck period, and bigger accumulator capacity means that bigger battery volume and weight, thus increase
Plus accumulator capacity will influence mobility and the lightweight of unmanned plane；For feeding this way by repeatedly carrying out electric energy
Footpath, if the charging technique based on conventional contact electric energy conduction pattern, then mean that unmanned plane is requiring supplementation with electric energy
When be required for the return to drop to base station or female port, and it is its charging to put into manpower, it is clear that such mode is in reliability
Property, flexibility, the aspect such as convenience is not enough, and the hovering charged form security for being based on which is low, to unmanned plane
Every technical performance has requirement very high, realizes that difficulty is big.Therefore, design one kind can make unmanned plane in task flexibly,
The scheme that is easily charged and be necessary to realizing that the technology of the program study.
The content of the invention
Present invention aim to address problem present in background technology, there is provided the method that a kind of groups unmanned plane is powered,
Realize and can be used to actually be charged to multi rack SUAV.
According to an aspect of the present invention, the present invention provide a kind of colony that non-contact type based on electromagnetic coupled charges without
Man-machine electric supply installation, including：
Main frame, the main frame, for it provides fuel, carries at least one power supply, including multiple transmitting terminals by fuel oil, and
Each transmitting terminal has transmitting coil and first resonance coil corresponding with transmitting coil, the power supply and the transmitting terminal
Electrical connection；
At least one unmanned plane, each unmanned plane carries repeatable charging device, and each unmanned plane connects including one
Receiving end, the receiving terminal has receiving coil and second resonance coil corresponding with receiving coil, the receiving terminal with it is described
Repeatable charging device electrical connection,
Wherein each transmitting terminal can charge for a unmanned plane, and the transmitting coil, the first resonance coil, the second resonance
Coil and receiving coil constitute an electromagentic resonance formula coupling mechanism, and the main frame also includes a landing platform, described
Landing platform is attached on the base of main frame to be used to support the unmanned plane.
According to a preferred embodiment of the invention, the transmitting terminal and receiving terminal all include power inverter.
According to a preferred embodiment of the invention, the unmanned plane includes navigation system.
According to a preferred embodiment of the invention, the navigation system is vision navigation system and/or inertial navigation
System.
According to a preferred embodiment of the invention, the repeatable charging device is battery.
According to a preferred embodiment of the invention, adsorbent equipment is installed on the landing platform.
According to a preferred embodiment of the invention, the adsorbent equipment is magnet.
Due to using above-mentioned technical proposal, a kind of groups unmanned plane electric supply installation and prior art phase that the present invention is provided
Than with such beneficial effect：The present invention is short for unmanned plane cruising time, it is impossible to the problems such as cruising for a long time, proposes one
Kind of groups unmanned plane electric supply installation, main frame carries power supply using large-scale oil-burning machine, by the EMR electromagnetic resonance of coupling coil by energy
The SUAV being distributed in around it is passed to, the spirit of unmanned plane is also ensure that while the endurance that improve unmanned plane
Activity.Simultaneously for unmanned plane provides landing platform, so as to ensure that SUAV accurately finds charge position, and firmly stop
Charge position is leaned against, is had broad application prospects.
Brief description of the drawings
Fig. 1 is the simplified diagram of the colony's unmanned plane electric supply installation according to one embodiment of the invention；
Fig. 2 is the principle schematic of the non-contact type charging technique of electromagnetic coupled of the invention；
Fig. 3 is the UAV Navigation System schematic diagram according to one embodiment of the invention；
Fig. 4 is the charging flow schematic diagram of the colony's unmanned plane electric supply installation according to one embodiment of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is described in detail referring now to an embodiment of Fig. 1-4 pairs of colony's unmanned plane electric supply installation of the invention.Its
In, Fig. 1 shows the simplified diagram of colony's unmanned plane electric supply installation of an embodiment of the invention.Such as Fig. 1 institutes
Show, colony's unmanned plane electric supply installation includes a main frame 1 and six unmanned planes 2.Preferably, main frame 1 be medium-and-large-sized six rotor without
Man-machine, using fuel oil as fuel, endurance is strong, and is equipped with power supply 3, wherein power source supplies AC.In this implementation
In scheme, main frame 1 includes 6 transmitting terminals 11, and each transmitting terminal 11 has transmitting coil 111 and corresponding with transmitting coil
Electrically connected between first resonance coil 112, wherein power supply 3 and transmitting terminal 11, the alternating current that power supply is produced flows through transmitting terminal
Transmitting coil and the first resonance coil corresponding with transmitting coil produce a magnetic field.Preferably, between power supply and transmitting terminal
In the presence of a power inverter, the low frequency ac that power supply discharges can be converted into high-frequency alternating current by power converter.Nobody
Machine 2 carries repeatable charging device, is in the present embodiment battery, and unmanned plane 2 is provided with receiving terminal 21, and receiving terminal has
Receiving coil 211 and the second resonance coil 212 corresponding with receiving coil, the second resonance coil 212 and the first resonance coil 112
Between intercouple one coupled magnetic field of generation, receiving coil 211 produces electric current in response to coupled magnetic field, is that battery is supplied
Electricity.Preferably, there is a power inverter between receiving terminal 21 and battery.In this way, main frame passes through electromagnetic induction
Coupling principle charges to six SUAVs simultaneously.Additionally, also including landing platform 4 on main frame 1, landing platform is attached at master
It is that unmanned plane 2 provides support on the base of machine.Alternatively, landing platform 4 can be an integrative-structure, it is also possible to correspond to
Each transmitting terminal is respectively provided with a landing platform.When unmanned plane 2 is near main frame 1, it can be rested on landing platform, made
Relative position between unmanned plane and main frame is more stable, charges relatively reliable.Preferably, absorption dress is set on landing platform
Put, for fixed landing unmanned plane thereon.Adsorbent equipment can be magnet, be adsorbed in its charging unmanned plane using magnetic force
On position.During charging, unmanned plane is dropped on landing platform, and adsorbent equipment is in position by unmanned plane, after charging complete, absorption
Device discharges unmanned plane, and unmanned plane flies away from charge position.Due to being provided with landing platform so that colony's unmanned plane of the invention fills
Electric installation had both had flexible, the convenient advantage that non-contact type charges, and in turn ensure that the reliability of charging.
Fig. 2 shows the principle schematic of magnetic-coupled non-contact type charging technique.When small unmanned plane 2 is near main frame 1, drop
Fall in its charge position, electromagentic resonance, energy are produced between the electromagnetic coupled coil and the coupling coil of main frame of SUAV
Amount just can realize charging of the main frame to unmanned plane by host power supply non contact transmission to unmanned plane.Specifically, transmitting coil
111st, the first resonance coil 112, the second resonance coil 212 and receiving coil 211 constitute electromagentic resonance formula coupling machine, and first is total to
Shake and form coupled magnetic field between the resonance coil 212 of coil 112 and second.In order to reduce Kelvin effect, four coils are using profit
Hereby coil winding is formed.Preferably, the resonance coil for two the being intercoupled quality factor q of itself designs higher, passes through
The resonance coil of the two high q-factor, can produce the magnetic field of higher intensity so that electric energy can be in larger distance in space
Efficiently transmitted.
The basic skills of analysis of Electromagnetic near-field coupling wireless power transmission technology is theoretical Mutual Inductance Coupling, its general principle
It is magnetic coupling, its general principle is briefly described below.When original grade coil accesses industrial-frequency alternating current, secondary coil passes through
Electromagnetic induction produces induced electromotive force.If I1And I2It is respectively the current value in original grade coil and secondary coil, M is between coil
Mutual inductance.When the high-frequency ac voltage that angular frequency is ω is accessed in original grade coil, space of the meeting around original grade coil
Produce electromagnetic field of high frequency.Due to being intercoupled between original grade coil and secondary coil, secondary coil can then sense original grade coil
The electromagnetic field of high frequency of generation produces high-frequency induction electromotive force.Induced voltage on secondary coil is by the electric current I of original grade coil1Certainly
Fixed, the value of induced voltage is equal to j ω MI1.Produced by secondary coil simultaneously as can also be sensed on mutual inductance principle original grade coil
Raw electromagnetic field, so as to produce high-frequency induction voltage, its value is by secondary current I2Determine, equal to-j ω MI2.Work as raising
When being input to the pulsation of original grade coil, the transimission power and efficiency of coupling mechanism can be greatly improved.So
And, the impedance of coil can become very big with the increase of angular frequency, therefore, very big reactive loss can be produced on coil.
In order to reduce reactive loss, transimission power is reached maximum, typically an electric capacity can be added to compensate on resonance coil, make
Coupling mechanism is operated in resonant condition.
In flight course, communicated between unmanned plane and main frame, by navigation system carry out unmanned plane and main frame it
Between relative position control, it is ensured that accurately find charge position.Navigation system is the visual plant on unmanned plane carrier, and its is main
Task is on the premise of pre-specified sail plan, with permissible accuracy, within a certain period of time by carrier pilotage to purpose
Ground.Therefore, navigation system is necessary for unmanned plane provides accurate navigational parameter, such as flying speed, vector, aircraft altitude,
The information such as aircraft position and attitude angle.Navigation system can be vision navigation system or inertial navigation system.
Fig. 3 shows the UAV Navigation System schematic diagram of the present embodiment, and the navigation system is vision guided navigation and inertia
The mode of guiding combination, realizes the relative position control between unmanned plane and main frame, in this implementation based on corresponding navigation algorithm
Multi tate Kalman's information fusion algorithm is used in scheme.Specifically it is explained as follows：
Vision navigation system is mainly to enter target position information and residing environmental information using high-precision vision camera
Row IMAQ, by after a series of image procossing, relative position and attitude angle being calculated by monocular vision navigation algorithm
Deng navigation information.Vision guided navigation has the technical characterstic of complicated unknown flight environment of vehicle Real-time modeling set, autonomous positioning and navigation.Nobody
Machine platform can simultaneously gather many by carrying the multiple sensors such as visible image capturing head, infrared camera and laser range finder
Dimension flight environment of vehicle information, data interaction and cooperated computing framework using airborne processor and earth station, real-time reconstruction is unknown to fly
The threedimensional model of row environment, realizes autonomous positioning and autonomous vision avoidance, tracking and lands.
Inertial navigation system then flies the inertia sensitive elements such as control built-in acceleration meter and gyro to unmanned plane by unmanned plane
Acceleration and angular speed information carries out the sampling of rapid rate in all directions that relative motion is produced, and is resolved by inertial navigation algorithm
Go out various navigation informations such as speed, attitude angle, position and the angular speed of unmanned plane.But due to accelerometer and gyroscope itself
Drift system can be made to produce error, the error becomes big with accumulated time, it is therefore necessary to introduce vision navigation system and it is entered
Row amendment.
Realize that integrated navigation system needs to carry out system optimal estimation, the filtering method of current optimal estimation mainly has
Wiener filtering, Kalman filter and H ∞ filtering etc..Wiener filtering is a kind of classical filtering method, but it is only from frequency
Optimal estimation has been carried out to plateau on domain；Kalman filter has then broken above-mentioned limitation, is a kind of time-domain filtering method.Its
Using linear system state equation, data are observed by system input and output, the algorithm of optimal estimation is carried out to system mode.
Kalman filter algorithm uses recursive form, and memory data output is small, can not only process steady random engineering, can also process many
The random engineering of peacekeeping non-stationary.Therefore Kalman filtering is typically all used when Navigation System Design is combined.The present invention is adopted
Estimated with the indirect method of " position and attitude matching " and the kalman filter method of output calibration carries out optimal estimation.Vision is led
Boat inputs to wave filter with the position of inertial navigation and the difference of attitude angle as measuring value.But due to vision and inertial navigation system
The sampling period of system differs, it is therefore necessary to solve the problems, such as multi-rate filtering with a kind of multi tate Kalman information fusion algorithm.
Vision navigation system adds collimation error model using the attitude and location parameter of standard, relative through monocular vision
Navigation algorithm calculates the navigational parameters such as relative position and attitude angle.The gyro and accelerometer measures standard of inertial navigation system
Acceleration and angular speed information, add ins error model, through inertial navigation algorithm resolve obtain position, speed and attitude etc.
Relative Navigation parameter.Relative position that two subsystems are measured respectively and attitude parameter are through multi tate Kalman's information fusion algorithm
Filtering, estimates optimal relative position, speed and attitude parameter.
The charging method of colony's unmanned plane electric supply installation of the invention is described in detail with reference to Fig. 2 and Fig. 4, works as unmanned plane
When sensing not enough power supply in flight course, the main frame of unmanned plane search its nearest neighbours is charged, and unmanned plane can be utilized
The position of the navigation system identification positioning destination host that it is loaded, makes the receiving terminal of unmanned plane be positioned in one of main frame transmitting
In the induction range at end；The power supply of main frame is set to discharge alternating current, the transmitting coil of the transmitting terminal and the first resonance coil are responded
A magnetic field is produced in alternating current；Second resonance coil and the first resonance coil of the receiving terminal of unmanned plane intercouple generation one
Individual coupled magnetic field, receiving coil produces an electric current；And receiving coil charges to battery, after charging complete, nobody
Machine flies away from charge position.It should be understood that the power supply release alternating current of main frame can be before unmanned plane enters charge position.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires to be limited rather than described above, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each implementation method is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Specification an as entirety, the technical scheme in each embodiment can also be formed into those skilled in the art through appropriately combined
May be appreciated other embodiment.
Claims (7)
1. colony's unmanned plane electric supply installation that a kind of non-contact type based on electromagnetic coupled charges, it is characterised in that including：
Main frame, the main frame, for it provides fuel, carries at least one power supply, including multiple transmitting terminals, and each by fuel oil
Transmitting terminal all has transmitting coil and first resonance coil corresponding with transmitting coil, and the power supply is electrically connected with the transmitting terminal
Connect；
At least one unmanned plane, each unmanned plane carries repeatable charging device, and each unmanned plane includes a receiving terminal,
The receiving terminal has receiving coil and second resonance coil corresponding with receiving coil, and the receiving terminal is repeatable with described
Charging device is electrically connected,
Wherein each transmitting terminal can charge for a unmanned plane, and the transmitting coil, the first resonance coil, the second resonance coil
And receiving coil constitutes an electromagentic resonance formula coupling mechanism, and the main frame also includes a landing platform, the landing
Platform is attached on the base of main frame to be used to support the unmanned plane.
2. colony's unmanned plane electric supply installation according to claim 1, it is characterised in that the transmitting terminal and receiving terminal are all wrapped
Include power inverter.
3. colony's unmanned plane electric supply installation according to claim 1, it is characterised in that the unmanned plane includes that navigation is
System.
4. colony's unmanned plane electric supply installation according to claim 3, it is characterised in that the navigation system is vision guided navigation
System and/or inertial navigation system.
5. colony's unmanned plane electric supply installation according to claim 1, it is characterised in that the repeatable charging device is to store
Battery.
6. the colony's unmanned plane electric supply installation described in any one in claim 1-5, it is characterised in that the landing
Adsorbent equipment is installed on platform.
7. colony's unmanned plane electric supply installation according to claim 6, it is characterised in that the adsorbent equipment is magnet.
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Cited By (8)
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| CN107264786A (en) * | 2017-06-08 | 2017-10-20 | 北京化工大学 | A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier |
| CN107444642A (en) * | 2017-08-16 | 2017-12-08 | 广东容祺智能科技有限公司 | A kind of flight system of large-scale UAV flight's SUAV |
| CN108032742A (en) * | 2017-11-15 | 2018-05-15 | 上海交通大学 | Unmanned plane high-altitude non-contact type energy make-up system and method |
| CN108528720A (en) * | 2018-05-03 | 2018-09-14 | 徐振钢 | Shared unmanned plane classified-refuse recovery system and its working method suitable for scenic spot |
| CN109435712A (en) * | 2018-10-24 | 2019-03-08 | 哈尔滨工业大学（威海） | The magnetic coupling arrangement and system of unmanned plane wireless charging |
| CN109733567A (en) * | 2018-12-31 | 2019-05-10 | 上海孚实船舶科技有限公司 | A method of contactless charging being carried out to underwater operation unit using AUV |
| CN110497803A (en) * | 2019-08-05 | 2019-11-26 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of high reliability wireless energy supply system and method |
| CN113928557A (en) * | 2021-10-21 | 2022-01-14 | 北京天玛智控科技股份有限公司 | Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264786A (en) * | 2017-06-08 | 2017-10-20 | 北京化工大学 | A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier |
| CN107444642A (en) * | 2017-08-16 | 2017-12-08 | 广东容祺智能科技有限公司 | A kind of flight system of large-scale UAV flight's SUAV |
| CN108032742A (en) * | 2017-11-15 | 2018-05-15 | 上海交通大学 | Unmanned plane high-altitude non-contact type energy make-up system and method |
| CN108528720A (en) * | 2018-05-03 | 2018-09-14 | 徐振钢 | Shared unmanned plane classified-refuse recovery system and its working method suitable for scenic spot |
| CN109435712A (en) * | 2018-10-24 | 2019-03-08 | 哈尔滨工业大学（威海） | The magnetic coupling arrangement and system of unmanned plane wireless charging |
| CN109733567A (en) * | 2018-12-31 | 2019-05-10 | 上海孚实船舶科技有限公司 | A method of contactless charging being carried out to underwater operation unit using AUV |
| CN109733567B (en) * | 2018-12-31 | 2020-01-14 | 上海孚实船舶科技有限公司 | Method for carrying out non-contact charging on underwater operation unit by using AUV (autonomous Underwater vehicle) |
| CN110497803A (en) * | 2019-08-05 | 2019-11-26 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of high reliability wireless energy supply system and method |
| CN113928557A (en) * | 2021-10-21 | 2022-01-14 | 北京天玛智控科技股份有限公司 | Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles |
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