CN106787231A - A kind of unmanned plane automatic charge device and its charging method - Google Patents

Abstract

An automatic charging device for an unmanned aerial vehicle and a charging method thereof, adopting a structural design of a base plate, a positioning device, a driving device, a locking device and a charging device, and utilizing a scientifically optimized charging method; greatly improving the efficiency of the existing unmanned aerial vehicle charging technology Insufficient, the positioning device is used for the positioning of the UAV when it lands, so as to ensure that the UAV lands safely and accurately in the special card slot; the driving device provides relevant power for the locking device; the locking device is used to complete Lock and fix the drone, and accurately align the charging electrode with the receiving electrode of the drone; charging device: used for charging the drone; the invention is rainproof and waterproof, and can be installed at any height and place , without manual intervention; good wind resistance performance, mature technology, safe and reliable, simple positioning, low cost; standard configuration design, light weight, easy processing and assembly, suitable for mass production.

Description

A kind of unmanned aerial vehicle automatic charging device and its charging method

technical field

The invention belongs to the technical field of charging, in particular to an automatic charging device for an unmanned aerial vehicle and a charging method thereof.

Background technique

Wireless charging can make people's life more convenient, and can eliminate problems such as virtual connections, arcs, grid fluctuations, and invalid power consumption that may be caused by power plugging. It is increasingly used in mobile phone charging, electric vehicle charging, and drone charging. get more attention;

UAV is a kind of flying equipment with a long history. It was mainly used in some harsh environments and high-risk work fields in the past. Due to the small range of use, it has not been widely used. In recent years, countries have increased research and development and investment in UAVs, greatly improving the technology and performance of UAVs, and expanding the scope of use of UAVs, especially in the civilian field. It has irreplaceable advantages in terms of work efficiency and personal safety protection. The development of drones is also in the ascendant, presenting a thriving scene. The currently developed drones mainly include: map surveying and mapping street shooting drones, geological survey drones, natural disaster monitoring drones, low-altitude meteorological detection drones, air traffic control drones, and border control drones , communication relay drones, agricultural pest monitoring, pesticide spraying drones, marine monitoring drones, greening and environmental protection drones, wildlife tracking and monitoring drones; express mail business drones, aviation sports photography Human-machine, high-voltage power inspection drones, etc., have penetrated into almost every aspect of our daily life and work;

UAVs have many unique advantages: they are not affected by ground traffic congestion, they are fast, and they can directly complete point-to-point service work, so they are efficient, but the disadvantages are also obvious: they are limited by the structure and weight of UAVs. The voyage is short, and it cannot meet the flight requirements of continuous long-term and large voyages, especially for civilian UAVs; how to solve the problem of UAVs replenishing energy on the way to complete subsequent flight tasks, the main method currently used is to set UAVs to automatically The charging device is used as a convenient station for UAVs to relay and obtain energy;

At present, there are mainly several charging methods at home and abroad:

1. Microwave resonance coupling method:

The advantages are: non-contact charging, high water resistance and dust resistance;

Disadvantages are: not windproof and windproof, because it is non-contact, there is loss when charging, the efficiency is not high, the device is unstable, and it is still in the experimental stage;

2. Metal plate charging method:

The advantage is: the wired charging method is adopted, and the charging efficiency is high;

The disadvantages are: the charging is completed by contacts, the drone cannot be locked, it cannot be windproof and waterproof, and must be installed with a canopy;

3. Air docking charging method:

The charging head cannot be accurately positioned in the air due to the influence of air turbulence, and it cannot be accurately docked with the drone, so it cannot be used in a short period of time and is still in the experimental stage;

4. Using high-voltage power lines to charge:

The advantage is: use the magnetic field emitted by the high-voltage transmission line to charge the drone, no need to install a charging device, and it is also a non-contact charging method, which is mainly used in the field of high-voltage power inspection; the disadvantage is that the charging time is long and is greatly affected by the weather. , the field of application is relatively narrow, and it is still in the conceptual stage;

Contents of the invention

In order to solve the above technical problems, the present invention provides a UAV automatic charging device and its charging method, which is based on the technology and market status of the UAV charging device above, with the concept of simplicity, practicality, safety, reliability and low cost , and then designed and developed; it meets the requirements of safe and reliable structure, windproof, waterproof and dustproof, simple operation, convenient maintenance, unattended, and mature charging method technology;

An automatic charging device for an unmanned aerial vehicle and a charging method thereof, wherein:

An automatic charging device for an unmanned aerial vehicle, comprising: a base plate, and also comprising: a positioning device, a driving device, a locking device and a charging device;

The positioning device, the driving device, the locking device and the charging device are all arranged on the bottom plate;

Positioning device: responsible for the positioning of the drone when it lands, ensuring that the drone lands safely and accurately in the dedicated card slot;

As an example, the positioning device includes: a housing, an ultrasonic sensor, an onboard control circuit and a charging platform control circuit;

As an application example, both the airborne control circuit and the charging platform control circuit use existing control units, and none of them are arranged in the mechanical structure of the invention;

The ultrasonic sensor is installed on the base plate, and the housing is installed on a special fixing hole of the base plate;

The operating principle of the positioning device: when the drone flies over the charging device, the positioning device on the drone body and the positioning device on the charging platform will automatically communicate through the establishment of a communication signal to ensure that there is no With the correct posture, the man-machine aligns the landing skid with the special groove on the shell and lands. When the four contact switches are closed and a signal is sent at the same time, it indicates that the drone has landed normally, and the drone is quickly locked by the locking device. Lock and charge;

As an example, the size of the special groove can be designed according to different types of UAV landing skids;

Driving device: provide relevant power for the locking device;

As an example, the driving device includes: a transmission gear, a transmission shaft, a gear key, a shaft coupling, a bearing seat, an intermediate bearing seat, a motor, a contact switch, and a motor seat;

The motor seat is installed on the preset position of the bottom plate, then the motor is installed in the fixing hole of the motor seat, and the intermediate bearing seat and the bearing seat are installed in sequence, and the coupling is installed on the motor shaft , install the two transmission gears on the special position on the transmission shaft, and fix the gear key and the transmission shaft; then install one end of the transmission shaft through the rack and the coupling, and install the other end on the middle bearing seat And on the bearing seat, adjust the position of the gear to mesh with the rack, and adjust the installation of the transmission shaft to the state required by the transmission work;

As an example, the contact switch is installed at a preset position on the bottom plate and corresponds to a special groove of the housing;

The operating principle of the driving device: when the UAV lands, the landing skid falls into the special groove set on the shell, and when the four contact switches are closed at the same time, it indicates that the UAV landing skid has been fully in place, and the charging platform controls The circuit is connected to the motor circuit. At this time, the motor automatically rotates clockwise or counterclockwise according to the control requirements after being powered on. The drive shaft is driven to rotate synchronously through the coupling, and the torque is transmitted to the drive gear and drives the locking device. The rack moves to complete the locking work;

Locking device: complete the locking and fixing of the drone, and accurately align the charging electrode with the receiving electrode of the drone;

As an example, the locking device includes: a rack mounting seat, a rack, a backing plate, a U-shaped clamp, a leaf spring, a pin shaft, and a second contact switch;

The rack mounting base is the mounting frame of the rack, and two sets of racks are respectively inserted into the square holes of the rack mounting base; the backing plate is installed at one end of the rack to provide compression for the leaf spring. At the resistance point, the leaf spring is set on the pin of the rack, and then the U-shaped card jack is inserted into the pin of the rack, and then the pin shaft is inserted into the long hole of the U-shaped card and the rack. And pass through the cotter pin to fix the pin shaft, the second contact switch is installed at the preset position of the bottom plate, and is used to check whether the locking device has completed the locking work state;

The operating principle of the locking device: the rack moves left and right under the drive of the transmission gear, and through the elastic force of the leaf spring, the U-shaped clamp is pushed towards the UAV landing skid. When the U-shaped locking card reaches the locked position, the second contact switch is closed, and the output signal controls the driving device to stop working, and the locking action is completed;

Charging device: used to charge the UAV;

As an example, the charging device includes: an electrode holder, a charging electrode, a spring, a wiring holder, a connecting terminal and a charging control circuit;

The spring is set on the electrode shaft, the electrode shaft is put into the preset square hole on the electrode seat and the shaft is extended, and a terminal block is installed on the protruding part, and the terminal block is installed on the terminal block to ensure The electrode can move freely in the preset square hole, and finally install the assembled electrode holder on the U-shaped holding card;

The operating principle of the charging device: the charging device is installed on the U-shaped holding card of the locking device, and moves left and right with the U-shaped holding card. When the U-shaped holding card has not locked the UAV landing skid, the The above-mentioned electrode is in contact with the receiving electrode installed on the landing skid of the UAV before the U-shaped clamping card. And under the action of the spring, it is in close contact with the receiving electrode on the landing skid; when the U-shaped clamping card locks the drone When landing the skid, through the signal sent by the second contact switch of the locking device, the charging control circuit powers up the charging electrode to start formal charging; when the UAV is fully charged, the charging control circuit sends an unlocking action command to the charging platform control circuit , the U-shaped holding card automatically returns to the initial position, and at the same time drives the charging device to return synchronously; the charging action is completed;

An automatic charging method for an unmanned aerial vehicle, comprising the following technical steps:

Step 1. UAV landing and positioning:

① When the UAV needs to supplement electric energy, the UAV will fly to the nearest automatic charging device for UAVs of the present invention under the guidance of the GPS signal;

②When the UAV enters the range of ultrasonic perception, the GPS navigation signal automatically switches to the ultrasonic positioning function; under the guidance of the ultrasonic positioning signal, the UAV automatically adjusts the landing direction and position, and maintains a certain position accuracy , so that the landing skid is aligned with the special groove set on the shell and slowly lands, and falls into the groove under the traction of its own gravity, so that the landing skid can be accurately inserted into the special groove, and the four contact switches simultaneously send a signal to the platform control circuit. The UAV has landed safely and entered the predetermined card slot position, ready to charge the signal;

As an example, the shape of the groove is designed as an inverted trapezoid;

As an example, the bottom of the groove is also provided with a drainage hole, which is used for timely drainage of rainwater in rainy days, and avoids the short circuit phenomenon caused by the water level filling the groove;

As an example, the contact switch can also adopt one or a combined mode of a position switch or a position sensor;

Step 2, the driving device controls the locking device to lock;

The platform control circuit sends out a switch signal, the motor is energized to rotate, drives the transmission shaft and gear to rotate, drives the rack to move left and right, and through the elastic force of the leaf spring, the U-shaped card slot locks the UAV into the groove for landing, and at the same time The charging electrode is inserted into the charging electrode on the landing skid of the drone, and the electrode is kept in close and effective contact with the charging electrode under the elastic force provided by the spring;

Step 3, UAV charging;

After the UAV is locked, the second contact switch sends a ready signal to control the motor to stop rotating. At this time, the charging control circuit is connected to power up the electrodes to start charging the UAV battery;

Step 4, the drone unlocks and flies away;

When the charging control circuit detects that the voltage of the receiving battery of the drone reaches the rated value, an instruction is issued to automatically cut off the charging power supply, the electrodes are powered off, and then the motor is driven to rotate in reverse to drive the rack to move, so that the U-shaped card slot Retract, and at the same time, the charging electrode is retracted synchronously with the U-shaped card slot, and the landing skid of the drone is unlocked. The drone can take off again at any time to complete the subsequent voyage tasks.

Beneficial effect:

1. The invention is completely rainproof and waterproof, and is suitable for normal charging work under bad weather conditions such as rainy days;

2. Can be installed at any height and place without manual intervention;

3. Because of the locking mechanism, the wind resistance performance is good, as long as the drone can land normally, there is no need to consider the problem of the drone being moved by the wind;

4. It can be used together with the national grid and photovoltaic power stations to form an integrated system integrating power generation and charging;

5. Mature technology, safe and reliable, simple positioning and low cost;

6. Standard configuration design, light weight, convenient processing and assembly, suitable for mass production;

Description of drawings

Figure 1 is a schematic diagram of the charging operation of an automatic charging device for an unmanned aerial vehicle of the present invention

Fig. 2 is a front schematic view of the structure of an automatic charging device for an unmanned aerial vehicle of the present invention

Figure 3 is a schematic side view of the structure of an automatic charging device for an unmanned aerial vehicle according to the present invention

Fig. 4 is a schematic top view of the overall structure of an automatic charging device for an unmanned aerial vehicle of the present invention

Fig. 5 is a three-times scale enlarged view of a schematic side view of an automatic charging device for an unmanned aerial vehicle according to the present invention.

detailed description

Next, with reference to accompanying drawings 1 to 5, an automatic charging device for an unmanned aerial vehicle and a charging method thereof, wherein:

An automatic charging device for an unmanned aerial vehicle and a charging method thereof, wherein:

An automatic charging device for an unmanned aerial vehicle, including: a bottom plate 022, and also includes: a positioning device, a driving device, a locking device and a charging device;

Positioning device: responsible for the positioning of the drone when it lands, ensuring that the drone lands safely and accurately in the dedicated card slot;

As an example, the positioning device includes: a housing 001, an ultrasonic sensor 021, an on-board control circuit and a charging platform control circuit;

As an application example, both the airborne control circuit and the charging platform control circuit use existing control units, and none of them are arranged in the mechanical structure of the invention;

The ultrasonic sensor 021 is installed on the base plate 022, and the housing 001 is installed on a special fixing hole of the base plate;

The operating principle of the positioning device: when no one is flying over the charging device, the positioning device on the drone body and the positioning device on the charging platform will automatically communicate through the establishment of a communication signal to ensure that no one is charged. With the correct posture, align the landing skid with the special groove on the shell 001 and land. When the four contact switches 020 are closed and send out a signal at the same time, it indicates that the drone has landed normally, and the locking device quickly locks the drone into place. Lock and charge;

As an example, the size of the special groove can be designed according to different types of UAV landing skids;

Driving device: provide relevant power for the locking device;

As an example, the driving device includes: a transmission gear 004, a transmission shaft 005, a gear key 006, a coupling 016, a bearing seat 017, an intermediate bearing seat 018, a motor 019, a contact switch 020, and a motor seat 023;

The motor base 023 is installed on the preset position of the base plate 022, and then the motor 019 is installed in the fixing hole of the motor base 023, and the intermediate bearing housing 018 and the bearing housing 017 are installed in sequence, and the shaft coupling Install the device on the motor shaft, install the two transmission gears 004 on the special position on the transmission shaft 005, and fix the gear key 006 and the transmission shaft; then pass one end of the transmission shaft through the rack and the coupling Installation, the other end is installed on the middle bearing seat 018 and bearing seat 017, adjust the gear position to mesh with the rack, and adjust the installation of the transmission shaft to the state required by the transmission work;

As an example, the contact switch 020 is installed at a predetermined position on the bottom plate 022, and corresponds to a special groove of the housing 001;

The operating principle of the driving device: when the UAV lands, the landing skid falls into the special groove set on the casing 001, and when the four contact switches 020 are closed simultaneously, it indicates that the UAV landing skid has been fully in place, and the charging The platform control circuit is connected to the motor circuit. At this time, the motor automatically rotates clockwise or counterclockwise according to the control requirements after being powered on. The drive shaft is driven to rotate synchronously through the coupling, and the torque is transmitted to the drive gear and drives the lock. The rack of the device completes the locking work;

Locking device: complete the locking and fixing of the drone, and accurately align the charging electrode with the receiving electrode of the drone;

As an example, the locking device includes: a rack mount 002, a rack 003, a backing plate 007, a U-shaped clamp 008, a leaf spring 009, a pin shaft 011, and a second contact switch 024;

The rack mounting base 002 is the mounting frame of the rack rack 003, and two groups of racks are respectively inserted into the holes of the rack mounting base; The spring 009 provides a compression resistance point, the leaf spring is set on the pin of the rack, and then the U-shaped holding card 008 jack is inserted into the pin of the rack, and then the pin shaft 011 is inserted into the U-shaped holding card and the tooth The long hole of the bar, and penetrate the cotter pin to fix the pin shaft, the second contact switch 024 is installed at the preset position of the bottom plate 022, and is used to check whether the locking device has completed the locking work state;

The operating principle of the locking device: the rack 003 moves left and right under the drive of the transmission gear 004, and through the elastic force of the leaf spring, pushes the U-shaped holding card 008 to move towards the UAV landing skid. When the U-shaped holding card 008 reaches the locking position, the second contact switch 024 is closed, and the output signal controls the driving device to stop working, and the locking action is completed;

Charging device: used to charge the UAV;

As an example, the charging device includes: an electrode holder 010, a charging electrode 012, a spring 013, a wire holder 014, a connection terminal 015 and a charging control circuit;

The spring 013 is set on the shaft of the electrode 012, the electrode shaft is put into the preset square hole on the electrode holder 010 and the shaft is extended, and the terminal block 014 is installed on the protruding part, and the terminal block 015 is installed on the On the terminal block 014, ensure that the electrode 012 can move freely in the preset square hole, and finally install the assembled electrode seat 010 on the U-shaped holding card 008;

The operating principle of the charging device: the charging device is installed on the U-shaped holding card 008 of the locking device, and moves left and right with the U-shaped holding card. When the U-shaped holding card has not locked the UAV landing skid, The electrode 012 is in contact with the receiving electrode installed on the landing skid of the UAV before the U-shaped clamping card. Under the action of the spring, it is in close contact with the receiving electrode on the landing skid; when the U-shaped clamping card is locked, there is no When the man-machine lands on the pry, through the signal sent by the second contact switch 024 of the locking device, the charging control circuit powers up the charging electrode and begins formal charging; when the drone is fully charged, the charging control circuit sends a signal to the charging platform control circuit. Unlock the action command, the U-shaped card will automatically return to the initial position, and at the same time drive the charging device to return synchronously; complete the charging action;

As an example, the charging control circuit adopts the product of the prior art, and the main design concept of the present invention is to use the existing control unit to realize the working effect of the special mechanical structure;

An automatic charging method for an unmanned aerial vehicle, comprising the following technical steps:

Step 1. UAV landing and positioning:

① When the UAV needs to supplement electric energy, the UAV will fly to the nearest automatic charging device for UAVs of the present invention under the guidance of the GPS signal;

②When the UAV enters the range of ultrasonic perception, the GPS navigation signal automatically switches to the ultrasonic positioning function; under the guidance of the ultrasonic positioning signal, the UAV automatically adjusts the landing direction and position, and maintains a certain position accuracy , so that the landing skid is aligned with the special groove set on the shell and slowly lands, and falls into the groove under the traction of its own gravity, so that the landing skid can be accurately inserted into the special groove, and the four contact switches simultaneously send a signal to the platform control circuit. The UAV has landed safely and entered the predetermined card slot position, and is ready for charging;

As an example, the shape of the groove is designed as an inverted trapezoid;

As an example, the contact switch can also adopt one or a combined mode of a position switch or a position sensor;

Step 2, the driving device controls the locking device to lock;

The platform control circuit sends out a switch signal, the motor is energized to rotate, drives the transmission shaft and gear to rotate, drives the rack to move left and right, and through the elastic force of the leaf spring, the U-shaped card slot locks the UAV into the groove for landing, and at the same time The charging electrode is inserted into the receiving electrode on the landing skid of the drone, and the electrode is kept in close and effective contact with the receiving electrode under the elastic force provided by the spring;

Step 3, UAV charging;

After the UAV is locked, the second contact switch sends a ready signal to control the motor to stop rotating. At this time, the charging control circuit is connected to power up the electrodes to start charging the UAV battery;

Step 4, the drone unlocks and flies away;

When the charging control circuit detects that the voltage of the receiving battery of the drone reaches the rated value, an instruction is issued to automatically cut off the charging power supply, the electrodes are powered off, and then the motor is driven to rotate in reverse, driving the rack to move left and right, so that the U-shaped card The slot is retracted, and the charging electrode is retracted synchronously with the U-shaped card slot to unlock the landing skid of the drone. The drone can take off again at any time to complete subsequent voyage tasks.

The invention is completely rainproof and waterproof, and can carry out normal charging work in rainy days if necessary; it can be installed at any height and place without manual intervention; the wind resistance performance is good, because there is a locking mechanism, as long as the drone can land normally Yes, there is no need to consider the problem of the UAV being moved by the wind; it can be used together with the State Grid and photovoltaic power stations to form an integrated system integrating power generation and charging; the technology is mature, safe and reliable, simple in positioning, and low in cost; Standard configuration design, light weight, convenient processing and assembly, suitable for mass production;

What is disclosed above is only a specific embodiment of the present application, but the present application is not limited thereto, and any changes conceivable by those skilled in the art shall fall within the protection scope of the present application.

Claims (9)

1. a kind of unmanned plane automatic charge device, including：Base plate, it is characterised in that also include：Positioner, drive device, lock Tight device and charging device；

The positioner, drive device, locking device and charging device are arranged on base plate；

The positioning when positioner lands for unmanned plane, it is ensured that unmanned plane safety and precise is dropped in special draw-in groove；

The drive device provides associated power for locking device；

The locking device is used to complete the locked fixed work to unmanned plane, and charging electrode is accurately aimed at into unmanned plane by electricity Electrode；

Charging device：For carrying out charging operation to unmanned plane；

The locking device includes：Tooth bar mounting seat, tooth bar, backing plate, U-shaped holding card, leaf spring, bearing pin and the second contact-making switch；Institute The installation frame that tooth bar mounting seat is tooth bar is stated, two pieces tooth bar is inserted into the square hole of tooth bar mounting seat respectively；The backing plate Installed in one end of tooth bar, for the leaf spring provides resistance to compression pression point, leaf spring is sleeved on the latch of tooth bar, then will be described U-shaped On the latch of holding card jack insertion tooth bar, then the bearing pin is penetrated in the elongated hole of U-shaped holding card and tooth bar, and penetrate split pin Bearing pin is fixed, second contact-making switch is arranged on the predeterminated position of the base plate, for checking whether locking device completes Lock the state of work.

2. a kind of unmanned plane automatic charge device according to claim 1, it is characterised in that the positioner includes： Shell, ultrasonic sensor, airborne control circuit and charging platform control circuit；The ultrasonic sensor is arranged on the bottom On plate, the shell is arranged on the special fixing hole of the base plate.

3. a kind of unmanned plane automatic charge device according to claim 1, it is characterised in that the airborne control circuit and Charging platform control circuit uses existing control unit, and it is not arranged in the mechanical structure of the invention；

4. a kind of unmanned plane automatic charge device according to claim 1, it is characterised in that the drive device includes： Travelling gear, power transmission shaft, gear key, shaft coupling, bearing block, middle bearing bracket, motor, contact-making switch, motor cabinet；The motor Seat is arranged on the predeterminated position of the base plate, then the motor is arranged in the fixing hole of motor cabinet, and install successively Middle bearing bracket and bearing block, the shaft coupling are arranged on motor shaft, by two travelling gears, on power transmission shaft In dedicated location, and gear key and power transmission shaft are fixed；Then one end of the power transmission shaft is installed through tooth bar with shaft coupling, The other end is arranged on middle bearing bracket and bearing block, and adjustment gear position is engaged with tooth bar, by power transmission shaft mounting and adjusting to biography Start building the state being required, the contact-making switch is arranged on the predeterminated position on base plate, and with the ad hoc groove of the shell It is corresponding；

5. a kind of unmanned plane automatic charge device according to claim 1, it is characterised in that the charging device includes： Electrode tip holder, charging electrode, spring, junction block, binding post and charging control circuit；The spring housing is mounted in electrode axis, In default square hole on the electrode axis loading electrode tip holder and shaft extension is gone out, junction block, the wiring are installed in the part stretched out Terminal is arranged on junction block, it is ensured that electrode being capable of freely activity, the electrode tip holder installation that will finally assemble in default square hole In U-shaped holding card.

6. a kind of unmanned plane automatic recharging method, it is characterised in that including following technical step：

Step one, unmanned plane land positioning：

1. when unmanned plane requires supplementation with electric energy, unmanned plane flies to one of nearest present invention under the guiding of gps signal Plant unmanned plane automatic charge device；

2. when unmanned plane is entered into the range of ultrasonic wave perception, GPS navigation signal automatically switches to the work(of ultrasonic wave positioning Can come up；Under the guiding of ultrasound locating signal, the landing of unmanned plane adjust automatically direction and position, and keep certain position Precision, makes landing prize the special groove slowly land set in alignment housings, and is fallen into groove under the traction of self gravitation, Prize landing accurately to insert in special groove, four contact-making switches send unmanned plane safety to platform courses circuit simultaneously Predetermined groove position is landed and entered, the preparation of charging is carried out；

Step 2, drive device control locking device are locked；

Platform courses circuit sends switching signal, and motor obtains electric rotation, drives power transmission shaft and pinion rotation, band carry-over bar or so fortune It is dynamic, by the elastic force of leaf spring, make U-shaped draw-in groove that UAV Landing picking lock is dead in groove, while charging electrode insertion unmanned plane Land sled on by electrode, the electrode keeps closely effectively being contacted with charging electrode under the elastic force that spring is provided；

Step 3, unmanned plane charge；

By after locked, the second contact-making switch sends ready signal to unmanned plane, and controlled motor is stopped the rotation, and now connects and fills Electric control circuit, is the electrode power-up, starts to be charged for unmanned machine battery；

Step 4, unmanned plane unblock are flown away from；

After the charging control circuit detects unmanned plane receives the voltage of electric battery to reach rated value, instruction is sent, cut automatically Disconnected charge power supply, electrode power-off, then motor reverse rotation, band carry-over bar movement makes U-shaped draw-in groove retract, while charging Electrode is synchronously retracted in company with U-shaped draw-in groove, and the landing sled to unmanned plane implements unlocking motion, and unmanned plane can take off again at any time, complete Into follow-up voyage task.

7. a kind of unmanned plane automatic recharging method according to claim 6, it is characterised in that the shape design of the groove It is inverted trapezoidal.

8. a kind of unmanned plane automatic recharging method according to claim 6, it is characterised in that the bottom of the groove also sets It is equipped with osculum.

9. a kind of unmanned plane automatic recharging method according to claim 6, it is characterised in that the contact-making switch can be with Using one kind or integrated mode in position switch or position sensor.