CN106787231B - Unmanned aerial vehicle automatic charging device and charging method thereof - Google Patents
Unmanned aerial vehicle automatic charging device and charging method thereof Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
- H02J7/0032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits disconnection of loads if battery is not under charge, e.g. in vehicle if engine is not running
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- H02J7/025—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
An unmanned aerial vehicle automatic charging device and a charging method thereof adopt the structural design of a bottom plate, a positioning device, a driving device, a locking device and a charging device, and utilize a scientifically optimized charging method; the defect of the existing unmanned aerial vehicle charging technology is greatly overcome, and the positioning device is used for positioning the unmanned aerial vehicle when the unmanned aerial vehicle lands, so that the unmanned aerial vehicle lands in a special clamping groove safely and accurately; the driving device provides relevant power for the locking device; the locking device is used for completing locking and fixing work of the unmanned aerial vehicle and accurately aligning the charging electrode with the power receiving electrode of the unmanned aerial vehicle; a charging device: the charging device is used for charging the unmanned aerial vehicle; the application is rain-proof and waterproof, can be installed at any height and place, and does not need manual intervention; the wind resistance is good, the technology is mature, the safety and reliability are realized, the positioning is simple, and the cost is low; the standard configuration design is lighter in weight, convenient to process and assemble and suitable for mass production.
Description
Technical Field
The application belongs to the technical field of charging, and particularly relates to an automatic charging device and a charging method for an unmanned aerial vehicle.
Background
The wireless charging can enable the life of people to be more convenient, and can eliminate the problems of virtual connection, electric arc, power grid fluctuation, ineffective consumption of electric energy and the like possibly caused by power supply plug-in connection, so that the wireless charging is more and more focused in the application fields of mobile phone charging, electric vehicle charging, unmanned aerial vehicle charging and the like;
unmanned aerial vehicle is a long-history aircraft, mainly uses in some working fields that the environment is abominable, and the danger is very high before, because the scope of use is very little, so do not have a large amount of popularization and application. In recent years, research and development and investment on unmanned aerial vehicles are increased in various countries, technology and performance of the unmanned aerial vehicles are greatly improved, application range of the unmanned aerial vehicles is widened, and the unmanned aerial vehicle has irreplaceable advantages in aspects of improving working efficiency, reinforcing personal safety and the like, and particularly has great development in the civil field. The development of unmanned aerial vehicles is also new, and a euphoria scene is presented. Unmanned aerial vehicle of present development mainly has: map survey scene street shooting unmanned aerial vehicle, geological survey unmanned aerial vehicle, natural disaster monitoring unmanned aerial vehicle, low-air image detection unmanned aerial vehicle, air traffic control unmanned aerial vehicle, border control unmanned aerial vehicle, communication relay unmanned aerial vehicle, agricultural pest monitoring, pesticide spraying unmanned aerial vehicle, ocean monitoring unmanned aerial vehicle, greening environment-friendly unmanned aerial vehicle, wild animal tracking and monitoring unmanned aerial vehicle; the fast mail service unmanned plane, the aeronautical photographing unmanned plane, the high-voltage power inspection unmanned plane and the like are almost penetrated to aspects of daily life and work of people;
unmanned aerial vehicles have a number of unique advantages: the system is not affected by ground traffic jam, has high speed, can directly complete point-to-point service work, has high efficiency, but has obvious defects: the unmanned aerial vehicle is limited by the structure and the weight of the unmanned aerial vehicle, the range is generally shorter, the flight requirement of continuous long-time large range cannot be met, and the civil unmanned aerial vehicle is particularly good; how to solve the problem that the unmanned aerial vehicle supplements energy in the middle to finish the subsequent flight task, the main method adopted at present is to arrange an automatic charging device of the unmanned aerial vehicle as a convenient post for the unmanned aerial vehicle to relay and acquire energy;
at present, the following charging modes are mainly available in the world:
1. microwave resonance coupling mode:
the advantages are that: the non-contact type charging is adopted, so that the waterproof performance and the dustproof performance are high;
the disadvantages are: wind prevention and wind resistance cannot be realized, the charging is lost due to non-contact, the efficiency is low, the device works unstably, and the device is still in an experimental stage;
2. metal plate type charging mode:
the advantages are that: the charging efficiency is high by adopting a wired charging mode;
the disadvantages are: the contacts are adopted to complete charging, the unmanned aerial vehicle cannot be locked, wind resistance and water resistance are not realized, and a rain shelter is required to be installed;
3. an aerial butt joint type charging mode:
the charging head cannot be accurately positioned under the influence of air turbulence in the air and cannot be accurately docked with the unmanned aerial vehicle, so that the charging head cannot be used in short-term time and is still in an experimental stage;
4. charging mode by using high-voltage transmission line:
the advantages are that: the unmanned aerial vehicle is charged by utilizing a magnetic field emitted by the high-voltage transmission line, a charging device is not required to be arranged, and the unmanned aerial vehicle also belongs to a non-contact charging mode and is mainly applied to the field of high-voltage power inspection; the method has the defects of longer charging time, larger influence by weather, narrower application field and currently being in a conceptual stage;
disclosure of Invention
In order to solve the technical problems, the application provides an automatic charging device and a charging method thereof for an unmanned aerial vehicle, wherein the device is designed and developed based on the technical and market status of the unmanned aerial vehicle charging device and by taking simplicity, practicality, safety, reliability and low cost as concepts; the structure is safe and reliable, the wind resistance, the water resistance and the dust resistance are realized, the operation is simple, the maintenance is convenient, the unattended operation is realized, the charging method is mature in technology and the like;
an unmanned aerial vehicle automatic charging device and a charging method thereof, wherein:
an unmanned aerial vehicle automatic charging device, comprising: bottom plate still includes: the device comprises 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: the positioning of the unmanned aerial vehicle during landing is guaranteed, and the unmanned aerial vehicle is ensured to land in the special clamping groove safely and accurately;
as an example, the positioning device includes: the device comprises a shell, an ultrasonic sensor, an airborne control circuit and a charging platform control circuit;
as an application illustration, the on-board control circuit and the charging platform control circuit both adopt existing control units, and neither are arranged in the mechanical structure of the application;
the ultrasonic sensor is arranged on the bottom plate, and the shell is arranged on a special fixing hole of the bottom plate;
the operation principle of the positioning device is as follows: when the unmanned aerial vehicle flies to the upper air of the charging device, the positioning device of the unmanned aerial vehicle body is automatically connected with the positioning device on the charging platform through the establishment of communication signals, so that the unmanned aerial vehicle is ensured to land in a correct posture by aiming at the landing pry at the special groove on the shell, when the four contact switches are closed and simultaneously send out signals, the unmanned aerial vehicle is indicated to land normally, and the locking device is used for locking the unmanned aerial vehicle rapidly to charge;
as an illustration, the size of the special groove can be changed according to different types of unmanned aerial vehicle landing skids;
a driving device: providing relevant power for the locking device;
as an example, the driving device includes: the device comprises a transmission gear, a transmission shaft, a gear key, a coupler, a bearing seat, an intermediate bearing seat, a motor, a contact switch and a motor seat;
the motor seat is arranged at a preset position of the bottom plate, then the motor is arranged in a fixing hole of the motor seat, the middle bearing seat and the bearing seat are sequentially arranged, the coupler is arranged on a motor shaft, two transmission gears are arranged at special positions on a transmission shaft, and a gear key is fixed with the transmission shaft; then one end of the transmission shaft penetrates through the rack and is installed with the coupler, the other end of the transmission shaft is installed on the middle bearing seat and the bearing seat, the position of the adjusting gear is meshed with the rack, and the installation of the transmission shaft is adjusted to a state required by transmission work;
as an illustration, the contact switch is mounted at a preset position on the base plate and corresponds to a dedicated groove of the housing;
principle of operation of the drive device: when the unmanned aerial vehicle falls down, the landing pry falls into a special groove arranged on the shell, when the four contact switches are closed simultaneously, the unmanned aerial vehicle landing pry is completely in place, the charging platform control circuit is connected with the motor circuit, at the moment, the motor automatically executes clockwise or anticlockwise rotation according to control requirements after being electrified, the transmission shaft is driven to synchronously rotate through the coupler, the torque is transmitted to the transmission gear, and the rack of the locking device is driven to move to complete locking work;
locking device: the locking and fixing work of the unmanned aerial vehicle is completed, and the charging electrode is accurately aligned to the power receiving electrode of the unmanned aerial vehicle;
as an example, the locking device includes: the device comprises a rack mounting seat, a rack, a base plate, a U-shaped clamp, a plate spring, a pin shaft and a second contact switch;
the rack mounting seat is a rack mounting rack, and two groups of racks are respectively inserted into square holes of the rack mounting seat; the base plate is arranged at one end of the rack to provide a compression resistance point for the plate spring, the plate spring is sleeved on a bolt of the rack, the U-shaped clamping insertion hole is inserted into the bolt of the rack, the pin shaft penetrates into long holes of the U-shaped clamping and rack and the cotter pin to fix the pin shaft, and the second contact switch is arranged at a preset position of the bottom plate and used for checking whether the locking device completes the locking work;
the operation principle of the locking device is as follows: the rack moves left and right under the drive of the transmission gear, and the U-shaped clamp is pushed to move towards the unmanned aerial vehicle landing pry through the elasticity of the plate spring. When the U-shaped clamp reaches the locking position, the second contact switch is closed, and the output signal controls the driving device to stop working so as to complete the locking action;
a charging device: the charging device is used for charging the unmanned aerial vehicle;
as an example, the charging device includes: the device comprises an electrode seat, a charging electrode, a spring, a wire seat, a wire connecting terminal and a charging control circuit;
the spring is sleeved on the electrode shaft, the electrode shaft is arranged in a preset square hole on the electrode seat and extends out of the shaft, the wiring seat is arranged at the extending part, the wiring terminal is arranged on the wiring seat, the electrode can freely move in the preset square hole, and finally the assembled electrode seat is arranged on the U-shaped clamp;
operation principle of the charging device: the charging device is arranged on the U-shaped clamp of the locking device, moves left and right along with the U-shaped clamp, and when the U-shaped clamp does not lock the unmanned aerial vehicle landing sled yet, the electrode contacts the power receiving electrode arranged on the unmanned aerial vehicle landing sled before the U-shaped clamp; when the U-shaped holding clamp locks the unmanned aerial vehicle landing pry, a charging control circuit is used for powering up a charging electrode through a signal sent by a second contact switch of the locking device, and formal charging is started; after the unmanned aerial vehicle is charged, the charging control circuit sends an unlocking action instruction to the charging platform control circuit, the U-shaped clamp automatically returns to the initial position, and the charging device is driven to synchronously return; completing the charging action;
an unmanned aerial vehicle automatic charging method comprises the following technical steps:
step one, unmanned aerial vehicle landing positioning:
(1) when the unmanned aerial vehicle needs to supplement electric energy, the unmanned aerial vehicle flies to the nearest unmanned aerial vehicle automatic charging device under the guidance of the GPS signal;
(2) when the unmanned aerial vehicle enters the ultrasonic sensing range, the GPS navigation signal is automatically switched to the ultrasonic positioning function; under the guidance of ultrasonic positioning signals, the unmanned aerial vehicle automatically adjusts the landing direction and position, and maintains certain position precision, so that the landing pry slowly lands in a special groove arranged on the shell and falls into the groove under the traction of self gravity, the landing pry is accurately inserted into the special groove, and four contact switches simultaneously send signals that the unmanned aerial vehicle safely lands and enters a preset clamping groove position to prepare for charging;
as an illustration, the shape of the groove is designed as an inverted trapezoid;
as an illustration, the bottom of the groove is also provided with a drain hole for timely draining rainwater in rainy days, so as to avoid short circuit phenomenon caused by filling the groove with water level;
as an illustration, the contact switch may also employ one or a combination of position switches or position sensors;
step two, the driving device controls the locking device to lock;
the platform control circuit sends out a switching signal, the motor is electrified to rotate, the transmission shaft and the gear are driven to rotate, the rack is driven to move left and right, the U-shaped clamping groove locks the unmanned aerial vehicle landing prying in the groove through the elasticity of the plate spring, meanwhile, the charging electrode is inserted into the charging electrode on the unmanned aerial vehicle landing prying, and the electrode is kept in close and effective contact with the charging electrode under the elasticity provided by the spring;
thirdly, charging the unmanned aerial vehicle;
after the unmanned aerial vehicle is locked, the second contact switch sends a signal of readiness to control the motor to stop rotating, at the moment, the charging control circuit is switched on to power up the electrode, and the unmanned aerial vehicle battery starts to be charged;
step four, the unmanned aerial vehicle unlocks and flies away;
when the charging control circuit detects that the voltage of the power-on battery of the unmanned aerial vehicle reaches the rated value, an instruction is sent, the charging power supply is automatically cut off, the electrode is powered off, then the driving motor reversely rotates to drive the rack to move, the U-shaped clamping groove is retracted, meanwhile, the charging electrode synchronously retracts along with the U-shaped clamping groove, the unmanned aerial vehicle landing pry is unlocked, the unmanned aerial vehicle can take off again at any time, and the subsequent voyage task is completed.
The beneficial effects are that:
1. the application is completely rainproof and waterproof, and is suitable for normal charging work in severe weather conditions such as rainy days;
2. can be installed at any height and place without manual intervention;
3. because the locking mechanism is arranged, the wind resistance is good, and the unmanned aerial vehicle can normally fall without considering the problem that the unmanned aerial vehicle is blown by wind to be removed;
4. the integrated system can be combined with a national power grid and a photovoltaic power station to form an integrated system integrating power generation and charging;
5. the technology is mature, safe and reliable, the positioning is simple, and the cost is low;
6. the standard configuration design is lighter in weight, convenient to process and assemble and suitable for mass production;
drawings
FIG. 1 is a schematic diagram of the charging operation of an automatic charging device for an unmanned aerial vehicle according to the present application
FIG. 2 is a schematic diagram illustrating the structure of an automatic charging device for an unmanned aerial vehicle
FIG. 3 is a schematic side view of an automatic charging device for unmanned aerial vehicle
FIG. 4 is a schematic top view showing the overall structure of an automatic charging device for an unmanned aerial vehicle according to the present application
FIG. 5 is an enlarged scale of three times of the range of reference symbol I of a side view schematic of an automatic charging device for a unmanned aerial vehicle according to the present application
Detailed Description
Referring to fig. 1 to 5, an automatic charging device for an unmanned aerial vehicle and a charging method thereof are shown, wherein:
an unmanned aerial vehicle automatic charging device and a charging method thereof, wherein:
an unmanned aerial vehicle automatic charging device, comprising: the bottom plate 022, further comprising: the device comprises a positioning device, a driving device, a locking device and a charging device;
positioning device: the positioning of the unmanned aerial vehicle during landing is guaranteed, and the unmanned aerial vehicle is ensured to land in the special clamping groove safely and accurately;
as an example, the positioning device includes: the device comprises a shell 001, an ultrasonic sensor 021, an airborne control circuit and a charging platform control circuit;
as an application illustration, the on-board control circuit and the charging platform control circuit both adopt existing control units, and neither are arranged in the mechanical structure of the application;
the ultrasonic sensor 021 is installed on the base plate 022, and the shell 001 is installed on a special fixing hole of the base plate;
the operation principle of the positioning device is as follows: when the unmanned aerial vehicle flies to the upper air of the charging device, the positioning device of the unmanned aerial vehicle body is automatically connected with the positioning device on the charging platform through the establishment of communication signals, so that the unmanned aerial vehicle is ensured to land in a correct posture by aiming at the landing skid at the special groove on the shell 001, and when the four contact switches 020 are closed and simultaneously send out signals, the unmanned aerial vehicle is indicated to land normally, and the locking device locks the unmanned aerial vehicle rapidly for charging;
as an illustration, the size of the special groove can be changed according to different types of unmanned aerial vehicle landing skids;
a driving device: providing relevant power for the locking device;
as an example, the driving device includes: the transmission gear 004, the transmission shaft 005, the gear key 006 coupler 016, the bearing pedestal 017, the middle bearing pedestal 018, the motor 019, the contact switch 020 and the motor pedestal 023;
the motor seat 023 is arranged at a preset position of the bottom plate 022, then the motor 019 is arranged in a fixed hole of the motor seat 023, an intermediate bearing seat 018 and a bearing seat 017 are sequentially arranged, the coupler is arranged on a motor shaft, two transmission gears 004 are arranged at special positions on a transmission shaft 005, and a gear key 006 is fixed with the transmission shaft; then one end of the transmission shaft passes through the rack and is installed with the coupler, the other end is installed on the middle bearing seat 018 and the bearing seat 017, the position of the adjusting gear is meshed with the rack, and the installation of the transmission shaft is adjusted to a state required by transmission work;
as an illustration, the contact switch 020 is installed at a preset position on the base plate 022 and corresponds to a dedicated groove of the housing 001;
principle of operation of the drive device: when the unmanned aerial vehicle falls down, the landing skid falls into a special groove arranged on the shell 001, when four contact switches 020 are closed simultaneously, the unmanned aerial vehicle landing skid is indicated to be in place completely, the charging platform control circuit is connected with the motor circuit, at the moment, the motor is electrified to automatically execute clockwise or anticlockwise rotation according to control requirements, the transmission shaft is driven to synchronously rotate through the coupler, and torque is transmitted to the transmission gear and drives the rack of the locking device to complete locking work;
locking device: the locking and fixing work of the unmanned aerial vehicle is completed, and the charging electrode is accurately aligned to the power receiving electrode of the unmanned aerial vehicle;
as an example, the locking device includes: the rack mounting seat 002, the rack 003, the base plate 007, the U-shaped holding clamp 008, the plate spring 009, the pin shaft 011 and the second contact switch 024;
the rack mounting seat 002 is a rack 003 mounting frame, and two groups of racks are respectively inserted into the holes of the rack mounting seat; the backing plate 007 is arranged at one end of the rack and provides a compression resistance point for the plate spring 009, the plate spring is sleeved on a bolt of the rack, the U-shaped clamping 008 jack is inserted into the bolt of the rack, the pin shaft 011 is penetrated into long holes of the U-shaped clamping and the rack and penetrates into a cotter pin to fix the pin shaft, and the second contact switch 024 is arranged at a preset position of the bottom plate 022 and is used for checking whether the locking device completes the locking work;
the operation principle of the locking device is as follows: the rack 003 moves left and right under the drive of the transmission gear 004, and the U-shaped clamp 008 is pushed to move towards the unmanned aerial vehicle landing pry direction through the elasticity of the plate spring. When the U-shaped locking clamp 008 reaches a locking position, the second contact switch 024 is closed, and an output signal controls the driving device to stop working so as to complete locking action;
a charging device: the charging device is used for charging the unmanned aerial vehicle;
as an example, the charging device includes: electrode holder 010, charging electrode 012, spring 013, wire holder 014, wire terminal 015, and charging control circuit;
the spring 013 is sleeved on an electrode 012 shaft, the electrode shaft is arranged in a preset square hole on the electrode seat 010 and extends out of the shaft, a wire holder 014 is arranged at the extending part, the wire terminal 015 is arranged on the wire holder 014, free movement of the electrode 012 in the preset square hole is ensured, and finally the assembled electrode seat 010 is arranged on the U-shaped holding clamp 008;
operation principle of the charging device: the charging device is arranged on the U-shaped clamp 008 of the locking device, moves left and right along with the U-shaped clamp, and when the U-shaped clamp does not lock the unmanned aerial vehicle landing sled yet, the electrode 012 contacts a power receiving electrode arranged on the unmanned aerial vehicle landing sled before the U-shaped clamp; when the U-shaped holding clamp locks the unmanned aerial vehicle landing pry, the charging control circuit is used for powering up the charging electrode through a signal sent by a second contact switch 024 of the locking device, and formal charging is started; after the unmanned aerial vehicle is charged, the charging control circuit sends an unlocking action instruction to the charging platform control circuit, the U-shaped clamp automatically returns to the initial position, and the charging device is driven to synchronously return; completing the charging action;
as an example, the charging control circuit adopts the prior art product, and the main design concept of the application is to adopt the prior control unit to realize the working effect of a special mechanical structure;
an unmanned aerial vehicle automatic charging method comprises the following technical steps:
step one, unmanned aerial vehicle landing positioning:
(1) when the unmanned aerial vehicle needs to supplement electric energy, the unmanned aerial vehicle flies to the nearest unmanned aerial vehicle automatic charging device under the guidance of the GPS signal;
(2) when the unmanned aerial vehicle enters the ultrasonic sensing range, the GPS navigation signal is automatically switched to the ultrasonic positioning function; under the guidance of an ultrasonic positioning signal, the unmanned aerial vehicle automatically adjusts the landing direction and the position, and maintains certain position precision, so that the landing pry slowly lands in a special groove arranged on the shell and falls into the groove under the traction of self gravity, the landing pry is accurately inserted into the special groove, and four contact switches simultaneously send that the unmanned aerial vehicle safely lands and enters a preset clamping groove position to a platform control circuit, so that the preparation work of charging is finished;
as an illustration, the shape of the groove is designed as an inverted trapezoid;
as an illustration, the contact switch may also employ one or a combination of position switches or position sensors;
step two, the driving device controls the locking device to lock;
the platform control circuit sends out a switching signal, the motor is electrified to rotate, the transmission shaft and the gear are driven to rotate, the rack is driven to move left and right, the U-shaped clamping groove locks the unmanned aerial vehicle landing prying in the groove through the elasticity of the plate spring, meanwhile, the charging electrode is inserted into the power receiving electrode on the unmanned aerial vehicle landing prying, and the electrode is kept in close and effective contact with the power receiving electrode under the elasticity provided by the spring;
thirdly, charging the unmanned aerial vehicle;
after the unmanned aerial vehicle is locked, the second contact switch sends a signal of readiness to control the motor to stop rotating, at the moment, the charging control circuit is switched on to power up the electrode, and the unmanned aerial vehicle battery starts to be charged;
step four, the unmanned aerial vehicle unlocks and flies away;
when the charging control circuit detects that the voltage of the power-receiving battery of the unmanned aerial vehicle reaches a rated value, an instruction is sent, the charging power supply is automatically cut off, the electrode is powered off, then the driving motor reversely rotates to drive the rack to move left and right, the U-shaped clamping groove is retracted, the charging electrode synchronously retracts along with the U-shaped clamping groove, the unmanned aerial vehicle can implement unlocking action on the landing skid of the unmanned aerial vehicle, and the unmanned aerial vehicle can take off again at any time to complete subsequent voyage tasks.
The application is completely rainproof and waterproof, and can perform normal charging work in rainy days if necessary; can be installed at any height and place without manual intervention; the wind resistance is good, and the problem that the unmanned aerial vehicle is blown and removed by wind is not considered as long as the unmanned aerial vehicle can normally fall due to the locking mechanism; the integrated system can be combined with a national power grid and a photovoltaic power station to form an integrated system integrating power generation and charging; the technology is mature, safe and reliable, the positioning is simple, and the cost is low; the standard configuration design is lighter in weight, convenient to process and assemble and suitable for mass production;
the above disclosure is only one specific embodiment of the present application, but the present application is not limited thereto, and any changes that can be thought by those skilled in the art should fall within the protection scope of the present application.
Claims (8)
1. An automatic charging method based on an automatic charging device of an unmanned aerial vehicle is characterized by comprising the following steps: an unmanned aerial vehicle automatic charging device is provided with: the device comprises a bottom plate, 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;
the positioning device is used for positioning the unmanned aerial vehicle during landing, and ensuring that the unmanned aerial vehicle lands in the special clamping groove safely and accurately;
the driving device provides relevant power for the locking device;
the locking device is used for completing locking and fixing work of the unmanned aerial vehicle and accurately aligning the charging electrode with the power receiving electrode of the unmanned aerial vehicle;
a charging device: the charging device is used for charging the unmanned aerial vehicle;
the locking device includes: the device comprises a rack mounting seat, a rack, a base plate, a U-shaped clamp, a plate spring, a pin shaft and a second contact switch; the rack mounting seat is a rack mounting rack, and two racks are respectively inserted into square holes of the rack mounting seat; the base plate is arranged at one end of the rack to provide a compression resistance point for the plate spring, the plate spring is sleeved on a bolt of the rack, the U-shaped clamping insertion hole is inserted into the bolt of the rack, the pin shaft penetrates into long holes of the U-shaped clamping and rack and the cotter pin to fix the pin shaft, and the second contact switch is arranged at a preset position of the bottom plate and used for checking whether the locking device completes the locking work;
further comprises: the automatic charging method comprises the following steps:
step one, unmanned aerial vehicle landing positioning:
(1) when the unmanned aerial vehicle needs to supplement electric energy, the unmanned aerial vehicle flies to the nearest unmanned aerial vehicle automatic charging device under the guidance of the GPS signal;
(2) when the unmanned aerial vehicle enters the ultrasonic sensing range, the GPS navigation signal is automatically switched to the ultrasonic positioning function; under the guidance of an ultrasonic positioning signal, the unmanned aerial vehicle automatically adjusts the landing direction and the position, so that the landing pry slowly lands in a special groove arranged on the shell and falls into the groove under the traction of self gravity, the landing pry is accurately inserted into the special groove, and four contact switches simultaneously send that the unmanned aerial vehicle safely lands and enters a preset clamping groove position to a platform control circuit, so that the unmanned aerial vehicle is ready for charging;
step two, the driving device controls the locking device to lock;
the platform control circuit sends out a switching signal, the motor is electrified to rotate, the transmission shaft and the gear are driven to rotate, the rack is driven to move left and right, the U-shaped clamping groove locks the unmanned aerial vehicle landing prying in the groove through the elasticity of the plate spring, meanwhile, the charging electrode is inserted into the power receiving electrode on the unmanned aerial vehicle landing prying, and the electrode is kept in close and effective contact with the charging electrode under the elasticity provided by the spring;
thirdly, charging the unmanned aerial vehicle;
after the unmanned aerial vehicle is locked, the second contact switch sends a signal of readiness to control the motor to stop rotating, at the moment, the charging control circuit is switched on to power up the electrode, and the unmanned aerial vehicle battery starts to be charged;
step four, the unmanned aerial vehicle unlocks and flies away;
when the charging control circuit detects that the voltage of the power-on battery of the unmanned aerial vehicle reaches the rated value, an instruction is sent, the charging power supply is automatically cut off, the electrode is powered off, then the driving motor reversely rotates to drive the rack to move, the U-shaped clamping groove is retracted, meanwhile, the charging electrode synchronously retracts along with the U-shaped clamping groove, the unmanned aerial vehicle landing pry is unlocked, the unmanned aerial vehicle can take off again at any time, and the subsequent voyage task is completed.
2. The automatic charging method based on an automatic charging device for an unmanned aerial vehicle according to claim 1, wherein the positioning device comprises: the device comprises a shell, an ultrasonic sensor, an airborne control circuit and a charging platform control circuit; the ultrasonic sensor is arranged on the bottom plate, and the shell is arranged on a special fixing hole of the bottom plate.
3. The automatic charging method based on an unmanned aerial vehicle automatic charging device according to claim 2, wherein neither the on-board control circuit nor the charging platform control circuit is provided in the mechanical structure of the unmanned aerial vehicle automatic charging device.
4. The automatic charging method based on an automatic charging device for an unmanned aerial vehicle according to claim 1, wherein the driving means comprises: the device comprises a transmission gear, a transmission shaft, a gear key, a coupler, a bearing seat, an intermediate bearing seat, a motor, a contact switch and a motor seat; the motor seat is arranged at a preset position of the bottom plate, then the motor is arranged in a fixing hole of the motor seat, the middle bearing seat and the bearing seat are sequentially arranged, the coupler is arranged on a motor shaft, two transmission gears are arranged at special positions on a transmission shaft, and a gear key is fixed with the transmission shaft; and then one end of the transmission shaft penetrates through the rack and is installed with the coupler, the other end of the transmission shaft is installed on the middle bearing seat and the bearing seat, the position of the adjusting gear is meshed with the rack, the transmission shaft is installed and adjusted to a state required by transmission work, and the contact switch is installed at a preset position on the bottom plate and corresponds to a special groove of the shell.
5. The automatic charging method based on an automatic charging device for a unmanned aerial vehicle according to claim 1, wherein the charging device comprises: the device comprises an electrode seat, a charging electrode, a spring, a wire seat, a wire connecting terminal and a charging control circuit; the spring is sleeved on the electrode shaft, the electrode shaft is arranged in a preset square hole in the electrode seat and extends out of the electrode seat, the wiring seat is arranged on the extending part, the wiring terminal is arranged on the wiring seat, the electrode can move freely in the preset square hole, and finally the assembled electrode seat is arranged on the U-shaped clamp.
6. The automatic charging method based on an automatic charging device for an unmanned aerial vehicle according to claim 1, wherein the shape of the recess is designed as an inverted trapezoid.
7. The automatic charging method based on the automatic charging device of the unmanned aerial vehicle according to claim 1, wherein the bottom of the groove is further provided with a drain hole.
8. The automatic charging method based on an unmanned aerial vehicle automatic charging device according to claim 1, wherein the contact switch can also adopt one or a combination of a position switch and a position sensor.
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| CN107656542A (en) * | 2017-09-12 | 2018-02-02 | 国家电网公司 | Unmanned plane cruising inspection system |
| WO2019061519A1 (en) * | 2017-09-30 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Foot frame sleeve for unmanned aerial vehicle, connecting component, and charging system and method for unmanned aerial vehicle |
| CN108394309A (en) * | 2018-06-06 | 2018-08-14 | 深圳草莓创新技术有限公司 | A kind of unmanned machine battery positioning and locking device and its method |
| CN109660028B (en) * | 2019-01-30 | 2023-10-20 | 青岛鲁渝能源科技有限公司 | Clamping device and unmanned aerial vehicle |
| CN110450673A (en) * | 2019-09-05 | 2019-11-15 | 广州极飞科技有限公司 | Charging platform, unmanned plane, automatic recharging method and system |
| CN112723222A (en) * | 2020-12-24 | 2021-04-30 | 车先树 | Automatic lift platform's unmanned frame |
| CN117576598B (en) * | 2024-01-19 | 2024-04-16 | 中国民用航空飞行学院 | Unmanned aerial vehicle system of patrolling and examining based on high in clouds database |
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