CN107128491B - A kind of primary and secondary UAV system of high pressure mutual inductance charging - Google Patents
A kind of primary and secondary UAV system of high pressure mutual inductance charging Download PDFInfo
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- CN107128491B CN107128491B CN201710306473.8A CN201710306473A CN107128491B CN 107128491 B CN107128491 B CN 107128491B CN 201710306473 A CN201710306473 A CN 201710306473A CN 107128491 B CN107128491 B CN 107128491B
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- machine tool
- handset
- docking
- high pressure
- mutual inductance
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- 238000003032 molecular docking Methods 0.000 claims description 114
- 210000000707 wrist Anatomy 0.000 claims description 31
- 238000012544 monitoring process Methods 0.000 claims description 24
- 238000004146 energy storage Methods 0.000 claims description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 9
- 229910052742 iron Inorganic materials 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 5
- 238000003860 storage Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 230000002463 transducing effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000009432 framing Methods 0.000 description 2
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- 229920000049 Carbon (fiber) Polymers 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
-
- 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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- H02J7/025—
Abstract
The present invention relates to a kind of primary and secondary UAV system of high pressure mutual inductance charging, including ground control station, delivery machine tool and handset, it delivers machine tool and is equipped with high pressure mutual inductance energy taking device, it can charge from high voltage transmission line, electrical energy for storage electric energy is provided for delivery machine tool, handset is mounted in below delivery machine tool, electric energy is obtained from delivery machine tool, there are band two kinds of operating modes of line operation and wireless operation, handset is equipped with job that requires special skills device, delivery machine tool can be detached from, instead of people complete cable line walking remove obstacles, the highly difficult task such as cable deicing.The primary and secondary UAV system can carry out the recharging of unmanned plane using the high voltage transmission line set up, greatly prolong the cruise duration and activity duration of multiple no-manned plane system, have very important realistic meaning.
Description
Technical field
The present invention relates to the primary and secondary UAV system that air vehicle technique field more particularly to a kind of high pressure mutual inductance charge.
Background technique
Unmanned plane has been dissolved among people's lives at present, by taking civilian unmanned plane as an example, on the one hand occurs nobody
Machine is taken photo by plane, unmanned plane is proposed and the activities such as unmanned plane delivery, unmanned plane agricultural plant protection on the other hand occurs, high-altitude line walking is made
The purposes such as industry and remote sensing mapping.Numerous innovation schemes based on multiple no-manned plane platform are constantly achieved, gradually instead of people
Work in the case where various special.
But the development of multiple no-manned plane system receives the limitation of battery capacity, accumulator capacity is too low to lead to unmanned plane
Cruise duration it is shorter, load it is more in the case where it is particularly evident, this just greatly limits unmanned plane and is for example detecing at a distance
The development of look into etc..
Cruise duration in order to solve the problems, such as UAV system is short, it is thus proposed that the imaginations of the multiple charging piles of setting.
It is safe and reliable that charging pile is set, but since charging pile is to be distributed in dots, coverage area continues only using charging pile as the center of circle
Boat distance is the circle of radius, and setup cost is high, and very inconvenient in field work.
Summary of the invention
(1) technical problems to be solved
Cruise duration is short when the technical problem to be solved by the present invention is to solve UAV system operation, inconvenient ask of charging
Topic.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of primary and secondary UAV system of high pressure mutual inductance charging, packets
Include ground control station, delivery machine tool and at least one handset；
The delivery machine tool includes machine tool controller, and the machine tool signal transceiver that is electrically connected, high pressure mutual inductance take
It can device, machine tool energy storage device, docking monitoring unit and at least one machine tool docking facilities；The machine tool signal transceiver is used for
It is communicated with the ground control station and/or the handset；The high pressure mutual inductance energy taking device is used to take electricity from high-voltage line and to institute
State the charging of machine tool energy storage device；The machine tool energy storage device is used to power to the delivery machine tool and handset；The machine tool docking
For device for dock with handset, the docking monitoring unit, which is used to monitor, described delivers docking for machine tool and handset；
The handset includes handset controller, and the handset signal transceiver, the handset docking facilities, son that are electrically connected
Machine charging unit and job that requires special skills device；Handset signal transceiver is used for and the ground control station and/or the delivery machine tool
Communication；For docking with the machine tool docking facilities, the handset charging unit is used in handset pair the handset docking facilities
It is electrically connected when connecing the delivery machine tool with the machine tool energy storage device and receives electric energy as handset power supply.
Preferably, the machine tool docking facilities include plug and the first connecting line being arranged in the plug；It is described
The tip inside of plug is packaged with baffle, and the end of first connecting line, which is equipped with, to be placed on the baffle or external first
Connecting-wire connector；Convex body is equipped on the outside of the end of the plug；
The handset docking facilities include with the mutually matched socket of the plug and be arranged in the socket
Two connecting lines；The tip inside of the socket is packaged with baffle, and the end of second connecting line, which is equipped with, is fixed on the baffle
On the second connecting-wire connector, for docking deliver machine tool when with the first connecting-wire connector grafting；The end of the socket
Shackle member and shackle member motor are additionally provided on the inside of portion, the shackle member motor is used to control institute when docking or separating delivery machine tool
It states shackle member and the convex body of the plug connects and fixes.
Preferably, numerical control electromagnetic iron is fixed on the outside of the convex body of the plug, setting below shackle member on the inside of the socket
There is Hall switch, the Hall switch is connect with the handset controller；
The docking monitoring unit includes miniature webcam, and the handset controller is supervised according to the Hall switch and docking
The electric signal control handset rotation of control unit feedback moves up and down, and makes the second connecting-wire connector and first connecting-wire connector
Complete grafting.
Preferably, part or whens all chargings with line operating mode, use at least one described machine tool docking facilities
Machine tool docking facilities；
The machine tool docking facilities further include the coiling shaft being set in the plug and shaft driving motor, it is described around
Line shaft for winding first connecting line, the shaft driving motor controlled by the machine tool controller with drive it is described around
Line shaft executes take-up or payoff operation；First connecting-wire connector is arranged in outside the baffle, and first connection
Wire terminal keeps the grafting with the second connecting-wire connector after the delivery machine tool and handset are detached from, to drive the first connecting line to stretch
The plug maintains to be electrically connected with the handset out.
Preferably, it is used when part or all wireless operating modes charge at least one described machine tool docking facilities
Machine tool docking facilities；
First connecting-wire connector of the machine tool docking facilities is fixedly mounted on the baffle, and the delivery machine tool with
Corresponding handset separates after being detached from the second connecting-wire connector；The handset for operating in wireless operating mode is additionally provided with and the handset control
The handset power energy monitoring and controlling unit of device electrical connection processed, the handset controller are used to receive the handset power energy monitoring and controlling unit feedback
Handset electric power signal sends alarm signal when being lower than preset value to the ground control station, and the ground control station sends letter
Machine tool is delivered described in number control handset auto-returned, carries out docking charging.
Preferably, the high pressure mutual inductance energy taking device includes taking energy mutual inductor, circuit unit, mechanical arm, turning wrist, turn wrist
Motor, coil motor and telescope motor；
The circuit unit includes: rectification circuit, filter circuit, voltage regulator circuit, turns wrist motor circuit, coil motor circuit
With telescope motor circuit；
The voltage output end for taking energy mutual inductor connects the voltage input end of the rectification circuit, the rectification circuit
Voltage output end connects the voltage input end of the filter circuit, and the voltage output end of the filter circuit connects the pressure stabilizing electricity
The voltage input end on road, the voltage output end of the voltage regulator circuit connect the voltage input end of the machine tool energy storage device；
It is described take can the taking energy coil of mutual inductor be divided into No.1 half-turn and No. two half-turns, the interconnecting piece of the No.1 half-turn with
The coil motor output end connection, the coil motor can drive the No.1 half-turn to rotate, so that the No.1 half-turn
The circular coil of closure is formed with No. two half-turns；
The taking energy coil be mounted on it is described turn on wrist, described to turn wrist and be electrically connected with wrist motor is turned, described to turn wrist electric
Machine band turn wrist rotates；
It is equipped with telescope motor in the mechanical arm, drives inside mechanical arm flexible.
It preferably, further include docking group, total interface and tap mouth；
The docking group be plugged with one match with the machine tool docking facilities used when wireless operating mode it is total
Interface and multiple tap mouths to match with the handset docking facilities that are being used when wireless operating mode；
It is connect respectively with tap mouth and total interface by conducting wire inside the docking group；
The docking group is mounted below delivery machine tool by total interface；
The handset is connected charging by tap mouth with machine tool is delivered.
Preferably, the section of the docking group central part is regular hexagon, and center is equipped with inserting for the total interface of connection
Interface, it is lateral to be equipped with three interfaces outstanding being evenly distributed, connection tap mouth.
Preferably, the job that requires special skills device includes manipulator, cast-cutting saw slice or burner.
Preferably, the rack of the delivery machine tool and handset uses more rotor structures, wheelbase 800mm, and holster shell is
Shield shell.
(3) beneficial effect
Above-mentioned technical proposal of the invention has the advantages that a kind of primary and secondary UAV system of high pressure mutual inductance charging, packet
Ground control station, delivery machine tool and handset are included, delivery machine tool is equipped with high pressure mutual inductance charging transducing head, can be from high voltage transmission line
Charging provides electrical energy for storage electric energy for delivery machine tool, and handset is mounted in below delivery machine tool, obtains electricity from delivery machine tool
Can, there are band two kinds of operating modes of line operation and wireless operation, handset is equipped with job that requires special skills device, can be detached from delivery machine tool, generation
For people complete cable line walking remove obstacles, the highly difficult task such as cable deicing.The primary and secondary UAV system can utilize the high pressure set up
Power transmission line carries out the recharging of unmanned plane, greatly prolongs the cruise duration and activity duration of multiple no-manned plane system, has very
Important realistic meaning.
Detailed description of the invention
Fig. 1 is the structural framing figure of primary and secondary UAV system in the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram that machine tool is delivered in the embodiment of the present invention one；
Fig. 3 is part A enlarged diagram in Fig. 2；
Fig. 4 is the bottom view of device in Fig. 3；
Fig. 5 is the structural schematic diagram of handset in the embodiment of the present invention one；
Fig. 6 is part B enlarged diagram in Fig. 5；
Fig. 7 is the top view of device in Fig. 6；
Fig. 8 is another implementation of part A in Fig. 2；
Fig. 9 is the first connecting wire structure schematic diagram in the embodiment of the present invention one；
Figure 10 is another implementation of part B in Fig. 5；
Figure 11 is the top view of Figure 10 device；
Figure 12 is the high pressure mutual inductance charging transducing head structural schematic diagram that machine tool is delivered in the embodiment of the present invention one；
Figure 13 is docking group main view in the embodiment of the present invention two；
Figure 14 is docking group top view in the embodiment of the present invention two；
Figure 15 is total interface structure schematic diagram in the embodiment of the present invention two；
Figure 16 is point interface structure schematic diagram in the embodiment of the present invention two.
In figure:
1: ground control station；2: machine tool controller；3: handset controller；
4: high pressure mutual inductance energy taking device；401: taking can mutual inductor；4011: No.1 half-turn；4012: No. two half-turns；
402: circuit unit；403: mechanical arm；404: turning wrist；405: turning wrist motor；406: coil motor；407: flexible
Motor；
5: docking monitoring unit；6: machine tool signal transceiver；7: machine tool energy storage device；
8: machine tool docking facilities；801: the first connecting lines；8011: electrode line；8012: negative line；8013: signal transmission
Line；802: the first connecting-wire connectors；
803: coiling shaft；804: convex body；805: numerical control electromagnetic iron；806: baffle；
9: machine tool balancing device；
11: handset signal transceiver；12: handset charging unit；13: handset power energy monitoring and controlling unit；
14: handset docking facilities；1401: Hall switch；1402: shackle member；1403: shackle member motor；Connect at 1404: the second
Wiring interface；1405: interface motor；1406: baffle；1407: the second connecting lines；
15: job that requires special skills device；
16: docking group；1601: total interface；1602: tap mouth.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the embodiment of the present invention, it should be noted that term " on ", "lower", "front", "rear", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "top", "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
Be merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, each section in attached drawing only indicates connection relationship, it should not be understood as actual size or ratio.
Embodiment one
The structural framing figure of primary and secondary UAV system provided in an embodiment of the present invention is as shown in Figure 1, include ground control station
1, machine tool and a handset are delivered.
It delivers and is equipped with machine tool controller 2 in machine tool, and the machine tool signal transceiver 6 that is electrically connected, high pressure mutual inductance take
Energy device 4, machine tool energy storage device 7, docking monitoring unit 5, machine tool balancing device 9 and two machine tool docking facilities 8, one of them
To be used when charging under with the machine tool docking facilities 8 that use when charging under line operating mode, another is wireless operating mode
Machine tool docking facilities 8.
Machine tool signal transceiver 6 is used to communicate with ground control station 1 and/or handset；High pressure mutual inductance energy taking device 4 be used for from
High-voltage line takes electricity and charges to machine tool energy storage device 7；Machine tool energy storage device 7 is used for delivery machine tool and handset power supply；Machine tool pair
For connection device 8 for dock with handset, docking monitoring unit 5 is used to monitor the docking operation for delivering machine tool and handset, and by signal
Delivery machine tool and handset are fed back to, position is adjusted convenient for handset, is docked.Machine tool balancing device 9 can be adjusted in a certain range
The center of gravity of section delivery machine tool, so that delivery machine tool will not occur acutely to rock when docking handset.
Handset includes handset controller 3, and be electrically connected handset signal transceiver 11, handset docking facilities 14,
Handset charging unit 12 and job that requires special skills device 15；Handset signal transceiver 11 is used for and ground control station 1 and/or delivery machine tool
Communication；For docking with machine tool docking facilities 8, handset charging unit 12 is used to dock delivery in handset female handset docking facilities 14
It is electrically connected when machine with machine tool energy storage device 7 and receives electric energy as handset power supply.
Handset is there are two types of operating mode: wireless operation and with line operation.
When using wireless operation, the machine tool used when charging under handset docking facilities 14 and wireless operating mode is to tipping
8 are set to be connected.
As shown in Figures 2 to 4, machine tool docking facilities 8 include plug and the first connecting line 801 being arranged in plug；
The tip inside of plug is packaged with baffle 806, and the end of the first connecting line 801, which is equipped with, to be placed on baffle 806 or external the
One connecting-wire connector 802；Convex body 804 is equipped on the outside of the end of plug.
As shown in Figures 5 to 7, handset docking facilities 14 include with the mutually matched socket of plug and be arranged in socket
The second connecting line 1407；The tip inside of socket is packaged with baffle 1406, and the end of the second connecting line 1407, which is equipped with, to be fixed on
The second connecting-wire connector 1404 on baffle 1406, for docking deliver machine tool when with 802 grafting of the first connecting-wire connector；It inserts
The tip inside of mouth is additionally provided with shackle member 1402 and shackle member motor 1403, and specific in the present embodiment, shackle member 1402 is can
Flexible cuboid, shackle member motor 1403 is used for the control card fitting 1402 when docking delivers machine tool and stretches out, convex with plug
Body 804 connects and fixes.
It is fixed with numerical control electromagnetic iron 805 on the outside of the convex body 804 of plug, is provided with Hall below shackle member 1402 on the inside of socket
Switch 1401, Hall switch 1401 are connect with handset controller 3；Docking monitoring unit 5 includes miniature webcam, handset controller
The 3 electric signal control handset rotations fed back according to Hall switch 1401 and docking monitoring unit 5 move up and down, and make the second connection
Wire terminal 1404 and the first connecting-wire connector 802 complete grafting.
Preferably, it is additionally provided with interface motor 1405 under the second connecting-wire connector 1404, interface motor 1405 is controlled by handset
Device control pushes the second connecting-wire connector 1404 to stretch out in grafting connector, completes grafting with the first connecting-wire connector 802；?
Separating joint is to withdraw the second connecting-wire connector 1404, is separated with the completion of the first connecting-wire connector 802.After completing docking
The second connecting-wire connector 1404 is stretched out again, can damage the first connecting-wire connector 802 or the to avoid during docking adjustment
Two connecting-wire connectors 1404.
First connecting-wire connector 802 of machine tool docking facilities 8 is fixedly mounted on baffle 806, and delivery machine tool with it is right
It is separated after answering handset to be detached from the second connecting-wire connector 1404；The handset for operating in wireless operating mode is additionally provided with to be controlled with handset
The handset power energy monitoring and controlling unit 13 that device 3 is electrically connected, handset controller 3 are used to receive the handset of the feedback of handset power energy monitoring and controlling unit 13
Electric power signal sends alarm signal when being lower than preset value to ground control station 1, and ground control station 1 sends signal and controls handset
Auto-returned delivers machine tool, carries out docking charging.
It should be noted that if primary and secondary UAV system only needs wireless operation, the first connecting line 801 and the second connecting line
1407 can also select plain conductor, can be realized the function of charging after grafting.
When using band line operation, handset docking facilities 14 with the machine tool that uses when charging under line operating mode to tipping
8 are set to be connected.
As shown in figure 8, further including the coiling being set in plug for the machine tool docking facilities 8 to work under ray mode
Shaft 803 and shaft driving motor 807, coiling shaft 803 for wind the first connecting line 801, shaft driving motor, 807
It is controlled by machine tool controller 2 to drive coiling shaft 803 to execute take-up or payoff operation；First connecting-wire connector 802 is arranged in
Outside baffle 806, and the first connecting-wire connector 802 is kept and the second connecting-wire connector 1404 after delivery machine tool and handset are detached from
Grafting, maintain to be electrically connected with handset to drive first connecting line 801 to stretch out plug.
As shown in figure 9, the first connecting line 801 is mostly used anti-interference line for flat, by voltage input when using band line operation
Line (including electrode line 8011 and negative line 8012) and signal transmssion line 8013 form.Wherein electrode line 8011, negative line 8012,
Mutual insulating between signal wire transmission 8013, is arranged by order close parallel in Fig. 9, forms the first connecting line of flat cross section
801。
As shown in Figure 10 and Figure 11, the shackle member 1402 in handset docking facilities 14 is also possible to one jiao of cuboid, card
Fitting 1402 is connected in compressed spring.When handset is docked with delivery machine tool, convex body 804 declines with respect to handset, oppresses shackle member
1402 squeeze so that compressed spring is shunk, and shackle member 1402 is recovered in groove；When convex body 804 drops to enough distances, compression
Spring pushes shackle member 1402 to pop up, and is stuck in 804 top of convex body, and realization handset docking facilities 14 are consolidated with machine tool docking facilities 8
It is fixed.Shackle member motor 1403 is used for the control card fitting 1402 when separation delivers machine tool and retracts, and separates with the convex body 804 of plug solid
It is fixed.Handset controller 3 issues instruction, and shackle member motor 1403 drives pull rod to move backward, and compressed spring receives shackle member 1402
It returns, primary and secondary unmanned plane is detached from.Control the folding and unfolding of the first connecting line, it is ensured that it is in straight condition, can carry out the band line of handset
Work.
It is obvious that handset docking facilities 14 shown in Figure 10 and Figure 11 can also be used for wireless operation.
Figure 12 is the high pressure mutual inductance charging transducing head structural schematic diagram that machine tool is delivered in the embodiment of the present invention.The high pressure is mutual
Sense charging transducing head include: take can mutual inductor 401, circuit unit 402, mechanical arm 403, turn wrist 404, turn wrist motor 405,
Coil motor 406 and telescope motor 407；
Circuit unit includes: rectification circuit, filter circuit, voltage regulator circuit, turns wrist motor-drive circuit and coil motor drive
Dynamic circuit；
Take the voltage input end of the voltage output end connection rectification circuit of energy mutual inductor 401, the voltage output of rectification circuit
The voltage input end of end connection filter circuit, the voltage input end of the voltage output end connection voltage regulator circuit of filter circuit, pressure stabilizing
The voltage input end of the voltage output end connection machine tool energy storage device 7 of circuit, machine tool energy storage device 7 are located inside delivery machine tool,
For providing electric energy for the flight system for delivering machine tool, it is also used to turn wrist motor 405, coil motor 406 and telescope motor 407
The accessories such as electric energy are provided, electric energy is provided.
The taking energy coil of energy mutual inductor 401 is taken to be divided into No.1 half-turn 4011 and No. two half-turns 4012, No.1 half-turn 4011
One end is equipped with interconnecting piece, and coil motor 406 is located on the inside of the interconnecting piece, and the output revolving shaft of coil motor 406 passes through interconnecting piece, and
Can 4011 pivoting of No.1 half-turn, when fitting, No.1 half-turn 4011 and No. two half-turns 4012 are capable of forming the circle of closure
Coil.
Turning wrist 404 is round tray, and the fixed part and No. two half-turns of No.1 half-turn 4011 is fixedly mounted in upper vertical
4012 fixed part, wherein the fixed part of No.1 half-turn 4011 and the interconnecting piece of No.1 half-turn 4011 are hinged, No. two half-turns 4012
One end of fixed part and No. two half-turns 4012 be solidly connected.Circuit unit 402 and turns wrist motor 405 and be respectively positioned in mechanical arm 403
Portion, the output revolving shaft for turning wrist motor 403 are pierced by 403 top of mechanical arm, turn the output revolving shaft of wrist motor 405 and turn 404 phase of wrist
Even, and for band turn wrist 404 it rotates, taking energy coil is rotated in a certain range, is adapted to all directions
High-tension bus-bar.
As shown in figure 12, mechanical arm 403 includes: preceding end arms, rear end arms, two telescope motors 407 and telescope motor driving
Circuit.Preceding end arms and two telescope motors 407 are respectively positioned on inside rear end arms, and the output shaft of two telescope motors 407 is and front end
The end of arm connects, and the top of preceding end arms is extend out to outside rear end arms from the top of rear end arms.
Preferably, it is also provided with microcam on mechanical arm 403, for monitoring taking energy coil accurately for high pressure wire clamp
It takes into coil.
Turn wrist motor-drive circuit, coil motor driving circuit and telescope motor circuit driving signal input and meanwhile connect
Machine tool controller 2 is connect, the driving signal output end connection for turning wrist motor-drive circuit turns the driving signal input of wrist motor 405
End, the driving signal input of the driving signal output end connection coil motor 406 of coil motor driving circuit, telescope motor drive
The driving signal output end of dynamic circuit connects the driving signal input of two telescope motors 407 simultaneously.
For realize high altitude operation, handset be additionally provided with the handset sensory package comprising more sensing units with ensure handset flight with
Operation safety.Job that requires special skills device 15 entrained by handset can be manipulator, cast-cutting saw slice, burner etc., can carry out example
Such as cable deicing operation, cable line walking remove obstacles operation manpower compared with being difficult to carry out for task, it is preferable that handset sensory package also wraps
Photographic device is included, can cooperate with job that requires special skills device 15, facilitate the high altitude operation of remote control handset.
More rotor structures are used specific to the rack in the present embodiment, delivering machine tool and handset, wheelbase is in 800mm or so.
The big battery holders such as left and right two are contained in middle section, and four-in-one electricity regulates and controls making sheet, fly control cushion socket, charger seat and receiving
Base, circuit board and pedestal one.Horn uses carbon fiber composite materials, mitigates self weight.Holster shell wraps entire electronics
Control section makes shielding shell using principle of electromagnetic shield-ing, prevents the electromagnetic environment of high voltage transmission line complexity in unmanned plane
Portion's electronic component interferes.Multiple sensors are installed in unmanned plane main part, the calculating of system is carried out by controller
It realizes automatic obstacle avoiding, improves safety.Preposition visual sensor can identify the profile of high voltage transmission line, to judge to deliver
Machine tool position, at a distance from high voltage transmission line etc., convenient for taking the crawl of energy mutual inductor 401.
For handset docking facilities 14 shown in machine tool docking facilities 8 and Fig. 6 shown in Fig. 8, band line operation is in use, ground
The control of control station 1 delivers machine tool carrying handset and takes off, and close to high voltage transmission line, delivery machine tool stretching takes energy mutual inductor 401 to grab
High voltage transmission line is taken, starts to provide electric energy with handset for itself.
When discharging handset, ground control station 1 issues instruction, is received by handset signal transceiver 11, feeds back to handset control
Device 3, handset controller 3 issue signal to shackle member motor 1403, and shackle member 1402 is driven to withdraw, and primary and secondary unmanned plane is detached from.Ground
Face control station 1 is remotely controlled handset and reduces lift, and sends a signal to delivery machine tool, while controlling the shaft driving motor on machine tool
807 drive coiling shaft 803 to discharge the first connecting line 801, control the folding and unfolding of the first connecting line 801, it is ensured that it is in and shape is straightened
State, handset can fly away from delivery machine tool, until accident spot carries out job that requires special skills.
Preferably, connection line bracket is also equipped in handset, the first connecting line 801 passes through the limit of connecting line bracket end
Position hole, while handset and delivery machine tool are detached from, connection line bracket pop-up, it is ensured that between the first connecting line 801 and propeller
Distance.
When recycling handset, ground control station 1 issues instruction, is received by handset signal transceiver 11, feeds back to handset control
Device 3, handset return below delivery machine tool, and coiling shaft 803 withdraws the first connecting line 801 and it is made to be in straight always at the same time
Linear state.When distance is decreased to a certain degree, the lift of handset is increased, makes machine tool docking facilities 8 and handset docking facilities 14
Docking includes miniature webcam in the docking monitoring unit 5 of the bottom installation to plug receptacle, quasi- to monitor primary and secondary unmanned plane
Really docking.Due to being attached by signal wire therebetween, and there are numerical control electromagnetic iron 805 and Hall switch 1401 to control to handset
Accurate docking can be achieved after the calibration of handset progress position in 3 feedback signal of device.Shackle member motor 1403 issues signal, drives card
Fitting 1402 stretches out, and is stuck in 804 top of convex body, realizes the recycling of primary and secondary unmanned plane.
It should be noted that the protrusion and card slot inside machine tool docking facilities 8 and handset docking facilities 14 are for second
Interfaces of connecting wires 1404 and the accurate grafting of the first connecting-wire connector 802, can also select the fit system of other forms.
Embodiment two
The present embodiment two is basically the same as the first embodiment, and something in common repeats no more, the difference is that: it is additionally arranged docking
Group 16, total interface 1601 and tap mouth 1602 allow frame delivery machine tool to carry three shelf machines.
As shown in Figure 13 and Figure 14, the section of 16 central part of docking group is regular hexagon, and it is total that center is equipped with a connection
The interface of interface 1601, it is lateral to be equipped with three interfaces outstanding being evenly distributed, connection tap mouth 1602.
As described in Figure 15 and Figure 16, it is plugged with one above docking group 16 and is docked with the machine tool used when wireless operating mode
What total interface 1601 that device 8 matches and three matched with the handset docking facilities 14 used when wireless operating mode
Tap mouth 1602；
Docking group 16 is mounted below delivery machine tool by total interface 1601, total 1601 upper end of interface and machine tool docking facilities
8 connections, inside are equipped with terminal, connect machine tool energy storage device 7 by the first connecting line 801 in machine tool docking facilities 8；Always
1601 lower end of interface with dock 16 grafting of group, and be equipped with closure, it is ensured that total interface 1601 is closely connect with docking group 16, will not
There is virtual connection.
It is connect respectively with tap mouth 1602 and total interface 1601 by conducting wire inside docking group 16, the effect class of docking group 16
Be similar to insert row, handset by tap mouth 1602 with deliver machine tool and be connected charging
Tap 1602 upper end of mouth with dock group 16 and be equipped with closure, it is ensured that tap mouth 1602 closely connect with group 16 is docked
It connects, is not in virtual connection；Tap 1602 lower end of mouth is connect with handset docking facilities 14, and inside is equipped with terminal, passes through handset
The second connecting line 1407 in docking facilities 14 connects handset charging unit 12.Realize that frame delivery machine tool carries three shelf machines
Wireless operating system.
It should be noted that the docking group 16 used in the present embodiment can also use other shapes, guarantee that handset is average
Distribution can assist delivery machine tool to keep balance.
To sum up, primary and secondary UAV system provided by the invention includes following operation mode.
Mode one: two frame unmanned plane of primary and secondary undertakes respectively takes two job tasks that can, work, and utilizes connecting line therebetween
It is connected, power transmission efficiency is high, and the activity duration is long.Handset can fly to assignment place to carry out complicated job task, such as take
The ice piton etc. on hanger, cleaning house on lower high-voltage line.
Mode two: number estrade machine is carried by frame large size delivery machine tool and executes special operation.In this working method, primary and secondary
Unmanned plane is connected by docking facilities, and data transfer mode then replaces with wireless messages transmitting, including the opposite of primary and secondary unmanned plane
Position；The electricity percentage of each sub- aircraft, working condition；Exportable performance number of female aircraft etc..Information can be transferred to
Ground control station carries out integrated management.Under this working method, delivery machine tool hangs on high voltage transmission line and carries out lasting taking electricity
Electric energy is stored in battery by task；The handset of release executes job task (such as a wide range of monitoring of teamwork, enemy's mesh
Mark monitoring etc.), delivery machine tool is returned to when electricity is reduced to certain percentage, and docked with delivery machine tool, carry out quick
Charging, handset can proceed with operation after charging complete.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (9)
1. a kind of primary and secondary UAV system of high pressure mutual inductance charging, it is characterised in that: including ground control station (1), delivery machine tool
With at least one handset；
The delivery machine tool includes machine tool controller (2), and be electrically connected machine tool signal transceiver (6), high pressure mutual inductance
Energy taking device (4), machine tool energy storage device (7), docking monitoring unit (5) and at least one machine tool docking facilities (8)；The machine tool
Signal transceiver (6) is used to communicate with the ground control station (1) and/or the handset；The high pressure mutual inductance energy taking device (4)
For taking electricity from high-voltage line and charging to the machine tool energy storage device (7)；The machine tool energy storage device (7) is used for the delivery
Machine tool and handset power supply；The machine tool docking facilities (8) with handset for docking, and the docking monitoring unit (5) is for monitoring
The delivery machine tool is docked with handset；
The handset includes handset controller (3), and the handset signal transceiver (11), the handset docking facilities that are electrically connected
(14), handset charging unit (12) and job that requires special skills device (15)；Handset signal transceiver (11) is used to control with the ground
It stands (1) and/or the delivery machine tool communicates；The handset docking facilities (14) are used to dock with the machine tool docking facilities (8),
The handset charging unit (12) is used to be electrically connected simultaneously when handset docks the delivery machine tool with the machine tool energy storage device (7)
Receive electric energy as handset power supply；
The machine tool docking facilities (8) include plug and the first connecting line (801) being arranged in the plug；The plug
Tip inside be packaged with baffle (806), the end of first connecting line (801) be equipped be placed on the baffle (806) or
The first connecting-wire connector (802) outside person；Convex body (804) are equipped on the outside of the end of the plug；
The handset docking facilities (14) include with the mutually matched socket of the plug and be arranged in the socket
Two connecting lines (1407)；The tip inside of the socket is packaged with baffle (1406), the end of second connecting line (1407)
Equipped with the second connecting-wire connector (1404) being fixed on the baffle (1406), for when docking delivers machine tool with described the
One connecting-wire connector (802) grafting；The tip inside of the socket is additionally provided with shackle member (1402) and shackle member motor (1403),
The shackle member motor (1403) is used to control the shackle member (1402) and the plug when docking or separating delivery machine tool
Convex body (804) connect and fix.
2. the primary and secondary UAV system of high pressure mutual inductance charging according to claim 1, it is characterised in that:
It is fixed with numerical control electromagnetic iron (805) on the outside of the convex body (804) of the plug, on the inside of the socket below shackle member (1402)
It is provided with Hall switch (1401), the Hall switch (1401) connect with the handset controller (3)；
The docking monitoring unit (5) includes miniature webcam, and the handset controller (3) is according to the Hall switch (1401)
With docking monitoring unit (5) feedback electric signal control handset rotation or move up and down, make the second connecting-wire connector (1404) with
First connecting-wire connector (802) completes grafting.
3. the primary and secondary UAV system of high pressure mutual inductance according to claim 2 charging, it is characterised in that: it is described at least one
The machine tool docking facilities (8) used when the middle part of machine tool docking facilities (8) or all chargings with line operating mode；
The machine tool docking facilities (8) further include the coiling shaft (803) being set in the plug and shaft driving motor
(807), the coiling shaft (803) is for winding first connecting line (801), and the shaft driving motor (807) is by institute
Machine tool controller (2) control is stated to drive the coiling shaft (803) to execute take-up or payoff operation；First connecting line connects
It is external that head (802) is arranged in the baffle (806), and first connecting-wire connector (802) is in the delivery machine tool and handset
The grafting with the second connecting-wire connector (1404) is kept after disengaging, is maintained with driving the first connecting line (801) to stretch out the plug
With being electrically connected for the handset.
4. the primary and secondary UAV system of high pressure mutual inductance according to claim 2 or 3 charging, it is characterised in that: it is described at least
The machine tool docking facilities (8) used when part or all wireless operating modes charge in one machine tool docking facilities (8)；
The first connecting-wire connector (802) of the machine tool docking facilities (8) is fixedly mounted on the baffle (806), and described
Delivery machine tool separates after being detached from corresponding handset with the second connecting-wire connector (1404)；Operate in the handset of wireless operating mode also
Equipped with the handset power energy monitoring and controlling unit (13) being electrically connected with the handset controller (3), the handset controller (3) is for receiving
The handset electric power signal of handset power energy monitoring and controlling unit (13) feedback sends alarm signal when being lower than preset value to describedly
Face control station (1), the ground control station (1), which sends signal and controls, delivers machine tool described in the handset auto-returned, carries out pair
Connect charging.
5. the primary and secondary UAV system of high pressure mutual inductance charging according to claim 1, it is characterised in that: the high pressure mutual inductance
Energy taking device (4) includes taking energy mutual inductor (401), circuit unit (402), mechanical arm (403), turning wrist (404), turn wrist motor
(405), coil motor (406) and telescope motor (407)；
The circuit unit includes: rectification circuit, filter circuit, voltage regulator circuit, turns wrist motor circuit, coil motor circuit and stretch
Contracting motor circuit；
The voltage output end for taking energy mutual inductor (401) connects the voltage input end of the rectification circuit, the rectification circuit
Voltage output end connect the voltage input end of the filter circuit, the voltage output end of the filter circuit connects the pressure stabilizing
The voltage input end of circuit, the voltage output end of the voltage regulator circuit connect the voltage input end of the machine tool energy storage device (7)；
The taking energy coil for taking energy mutual inductor (401) is divided into No.1 half-turn (4011) and No. two half-turns (4012), the No.1
The interconnecting piece of half-turn (4011) is connect with the coil motor (406) output end, and the coil motor (406) can drive described
No.1 half-turn (4011) rotation, so that the No.1 half-turn (4011) and No. two half-turns (4012) form the circular coil of closure；
The taking energy coil be mounted on it is described turn on wrist (404), it is described to turn wrist (404) and be electrically connected with wrist motor (405) is turned,
Wrist motor (405) band turn wrist (404) that turns rotates；
Telescope motor (407) are equipped in the mechanical arm (403), drive inside mechanical arm flexible.
6. the primary and secondary UAV system of high pressure mutual inductance charging according to claim 1, it is characterised in that: further include docking group
(16), total interface (1601) and tap mouth (1602)；
The docking group (16) is plugged with one and matches with the machine tool docking facilities (8) used when wireless operating mode
Total interface (1601) and multiple tap mouths to match with the handset docking facilities (14) that are being used when wireless operating mode
(1602)；
The docking group (16) is internal to be connect with tap mouth (1602) and total interface (1601) by conducting wire respectively；
The docking group (16) is mounted below delivery machine tool by total interface (1601)；
The handset is connected charging by tap mouth (1602) with machine tool is delivered.
7. the primary and secondary UAV system of high pressure mutual inductance charging according to claim 6, it is characterised in that: the docking group
(16) section of central part is regular hexagon, and center is equipped with the interface of a total interface (1601) of connection, lateral equipped with flat
Three interfaces outstanding being distributed, connection tap mouth (1602).
8. the primary and secondary UAV system of high pressure mutual inductance charging according to claim 1, it is characterised in that: the job that requires special skills
Device (15) includes manipulator, cast-cutting saw slice or burner.
9. the primary and secondary UAV system of high pressure mutual inductance charging according to claim 1, it is characterised in that: the delivery machine tool
More rotor structures, wheelbase 800mm are used with the rack of handset, holster shell is shielding shell.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109976323A (en) * | 2017-12-27 | 2019-07-05 | 富泰华工业（深圳）有限公司 | Mobile device |
| CN108528254B (en) * | 2018-04-28 | 2020-09-29 | 广东电网有限责任公司电力科学研究院 | Line patrol unmanned aerial vehicle charging system and method |
| CN108631411B (en) * | 2018-06-25 | 2021-05-14 | 苏州奥彼电源有限公司 | Unmanned aerial vehicle aerial charging device and method |
| CN113167594A (en) * | 2018-07-09 | 2021-07-23 | 易连股份有限公司 | Coordinating labor activities using unmanned aerial vehicles |
| CN111628577B (en) * | 2020-06-11 | 2021-10-15 | 云南电网有限责任公司昆明供电局 | Mechanism device for taking electricity from high-voltage line |
| CN112068597B (en) * | 2020-09-25 | 2022-09-13 | 中国直升机设计研究所 | Obstacle avoidance system of helicopter based on front-driving unmanned aerial vehicle |
| CN114325552B (en) * | 2021-11-26 | 2024-02-02 | 国网河北省电力有限公司武安市供电分公司 | Metering series household live investigation instrument |
| CN117691760A (en) * | 2024-01-23 | 2024-03-12 | 北京大学 | Primary and secondary underwater robot system and power supply method |
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Effective date of registration: 20210817 Address after: 1811, 37 Xueyuan Road, Haidian District, Beijing 100080 Patentee after: Zhu Kaisong Address before: 150066 A 4, No. 20 Xinghai Road, Ping Fang District, Harbin, Heilongjiang. Patentee before: HARBIN DRAGON SOUND TECHNOLOGY Co.,Ltd. Patentee before: Zhu Kaisong |