CN108819775A - A kind of power-line patrolling unmanned plane wireless charging relay system and charging method - Google Patents
A kind of power-line patrolling unmanned plane wireless charging relay system and charging method Download PDFInfo
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- CN108819775A CN108819775A CN201810714490.XA CN201810714490A CN108819775A CN 108819775 A CN108819775 A CN 108819775A CN 201810714490 A CN201810714490 A CN 201810714490A CN 108819775 A CN108819775 A CN 108819775A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
- B60L2240/72—Charging station selection relying on external data
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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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of power-line patrolling unmanned plane wireless charging relay system and charging method, including ground monitoring module, charging station network and power-line patrolling unmanned plane, ground monitoring module includes wireless communication module and ground monitoring computer；Charging station network is made of several charging stations, each charging station includes wireless communication module, charging module and landing beacon, wireless communication uses bluetooth module, and charging module includes power module, main control module and energy transmitting module, realizes to unmanned plane and transmits electric energy；Unmanned plane includes battery management module, flight master control navigation module, vision guided navigation to connection module and multiple wireless communication modules, the present invention can be realized unmanned plane real-time monitoring battery dump energy during power-line patrolling, connection module is accurately docked by flight master control navigation module and vision guided navigation with relaying charging station when charging is required and carries out wireless charging, it can be realized remote normal communication, charge convenient and do not influenced by geographical conditions.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of power-line patrolling unmanned plane wireless charging relay system and fill
Method for electrically.
Background technique
With social economy advance by leaps and bounds and the fast development of city size, life with commercial power demand increasingly
Greatly.Regularly check it being to guarantee that most important most effective hunt of electric power netting safe running is applied to transmission line of electricity.Traditional electric power patrols
Line process is staff's on-the-spot make an inspection tour route, is entered into computer again after carrying out paper record.Therefore, inspection is easy by people
For factor influence and there is mistake, while in the process can not effectively managerial staff member whether cyclic in-position measuring, inspection quality
It can not ensure, line security situation is also without collateral security.Although the helicopter power line inspection occurred later solves patrol officer logical
The difficult problem low with walking efficiency of row, but since its single flight cost is excessively high and also needs manual record line walking data,
Therefore not expanded.
In recent years, being used to detect transmission line of electricity as carrier using unmanned plane is a kind of new method for inspecting, by being mounted on nothing
The detection devices such as video camera and infrared thermoviewer on man-machine, detect transmission line of electricity.And taken pictures by hovering, fixed point,
Make the pictures such as route and status of equipment real-time transmission to ground monitoring platform.Using unmanned plane inspection transmission line of electricity, can quickly visit
The information such as passage hidden trouble, body defects for surveying transmission line of electricity, in various complicated landforms, bad weather, can also accomplish it is accurate and
When, efficiently obtain field data.
But unmanned plane needs surface personnel to send remote control command in real time during line walking, and cruise duration exists
30 minutes or so, the cruise duration of unmanned plane was severely limited by battery capacity.Common method is to increase battery capacity, but battery
The increase of capacity will cause unmanned plane weight bearing increase, output power rises with it, and cruise duration is with entrained battery capacity
Increase rather than linearly increasing, cost of manufacture and battery technology limit the cruise duration of unmanned plane, can not fundamentally solve nothing
Man-machine long-time independently executes the problem of line walking task.Therefore, it is necessary to design a kind of power-line patrolling unmanned plane charging relaying system
System, realizes the automation long-time line walking of unmanned plane.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of power-line patrolling unmanned plane wireless charging relay system and chargings
Method, this is set up wireless charging relaying charging station in line walking on the way, battery capacity is monitored during unmanned plane line walking, when nobody
Machine not enough power supply completes to drop to charging station nearby when this line walking task, is filled by wireless power transmission mode to unmanned plane
Electricity expands its cruising range to improve the cruising ability of power-line patrolling unmanned plane.
In order to achieve the above objectives, a kind of power-line patrolling unmanned plane wireless charging relay system of the present invention includes ground prison
Control module, charging station network and the charhing unit being arranged on unmanned plane, wherein ground monitoring module includes the first of electrical connection
Wireless communication module and ground monitoring computer；Charhing unit includes battery management module, flight navigation to connection module and more
A second wireless communication module and third wireless communication module, battery management module and third wireless communication module are connected by cable
It connects, flight navigation connects connection module and the second wireless communication module；Charging station network includes the several of setting along power line
A charging station, is provided with the 4th wireless communication module, charging module and landing beacon in charging station, charging module and the 4th wireless
Communication module passes through cable connection；Ground monitoring module and unmanned plane pass through the first wireless communication module and the second radio communication mold
Block establishes connection；Unmanned plane and charging station establish connection by third wireless communication module and the 4th wireless communication module.
Further, ground monitoring computer is used to obtain the coordinate of power-line patrolling unmanned plane, posture and has fault-free, and
According to the coordinate information of the charging station of storage calculate unmanned plane with all charging stations at a distance from, find out apart from unmanned plane recently fill
Power station coordinate；Battery management module includes charge management module for monitoring battery capacity situation and provides power supply for unmanned plane
Lithium battery group；Flight navigation includes that flight master control navigation module and vision guided navigation dock to connection module to connection module flight navigation
Module, for controlling the flight of unmanned plane.
Further, charging module includes power module, main control module and energy transmitting module, power module and master control mould
Block and energy transmitting module pass through cable connection, main control module and energy transmitting module and pass through cable connection, energy transmitting mould
Block includes the DC-AC high-frequency inversion module and transmitting coil by cable connection, the friendship of DC-AC high-frequency inversion module and charging station
The connection of galvanic electricity source；Wherein, main control module with the 4th wireless communication module for being communicated and controlling the work of energy transmitting module
Make state.
Further, the first wireless communication module and wireless communication module are GPRS module, third wireless communication module
It is bluetooth module with the 4th wireless communication module.
Further, in charging station network, the spacing distance of charging station is：0.5km-5km.
Further, the three-dimensional coordinate of all charging stations is embedded in ground monitoring computer.
A kind of power-line patrolling unmanned plane wireless charging method, which is characterized in that include the following steps：
Step 1, during line walking, the remaining capacity of the charge management module real-time monitoring lithium battery group on unmanned plane,
Current coordinate information is sent to ground monitoring computer to connection module by flight navigation；
Step 2, ground monitoring computer are believed according to embedded each charging station coordinates information and unmanned plane changing coordinates
Breath calculates unmanned plane at a distance from all charging stations, and the charging station coordinates letter nearest from unmanned plane can be being returned after calculating
Breath；
Step 3, the flight navigation of unmanned plane calculate whether lithium battery group needs to charge to connection module；If desired it charges, into
Row step 4, if showing that lithium battery group does not need to charge after calculating, return step 1；
To being docked with it apart from nearest charging station, and with charging module, docking is completed for step 4, unmanned plane during flying
Afterwards, charging module is charged in a manner of wireless charging to lithium battery group, and after fully charged, unmanned plane continues to execute line walking task.
Further, in step 4, using E power-like amplifier inverter circuit by DC inverter be high-frequency alternating current, adopt
Electric energy is transferred to by lithium battery group by energy transmitting coil with resonance magnetic coupling wireless power transmission technology.
It further, will position mark be at that time interruption position, charging complete before unmanned plane flies to charging station in step 4
Afterwards, interruption position is returned to.
Further, using strap down inertial navigation and GPS integrated navigation module by near Navigation of Pilotless Aircraft to target charging station, so
Unmanned plane is docked with the accurate of charging station to be realized to connection module using vision guided navigation afterwards.
Compared with prior art, the present invention at least has technical effect beneficial below, establishes wireless charging relay system,
It realizes unmanned plane battery capacity and real-time monitoring and timely charge function, is charged using the relay wireless being laid with along transmission line of electricity
Platform, real-time monitoring unmanned plane battery dump energy during unmanned plane line walking, and current coordinate information is sent to ground
Face monitoring module, ground monitoring module are returning to the nearest charging station coordinates information of unmanned plane after calculating.Strap down inertial navigation and
GPS integrated navigation can guide near the target charging station of unmanned plane, and vision guided navigation accurately docks connection module with relaying charging station
And carry out wireless charging, by E power-like amplifier inverter circuit by DC inverter be high-frequency alternating current, pass through energy transmitting
Electric energy wireless transmission to unmanned plane, can be realized remote normal communication by coil, charges convenient and is not influenced by geographical conditions,
Whole process precisely links up, and does not need manual operation.
Further, it can be realized the automation long-time line walking of unmanned plane with wireless charging mode, and without charging touching
Point, unmanned plane cruising ability and service life will greatly prolong.
Further, before unmanned plane flies to charging station, it will position mark be at that time interruption position, after charging complete, return
Interruption position guarantees the continuity of line walking.
Detailed description of the invention
Fig. 1 is power-line patrolling unmanned plane wireless charging relay system integrated stand composition；
Fig. 2 is charging station network composition block diagram.
Fig. 3 is flight navigation to connection module annexation figure；
Fig. 4 is power-line patrolling unmanned plane wireless charging relay system work flow diagram；
In attached drawing：1, ground monitoring module, 2, power-line patrolling unmanned plane, 3, charging station network, the 11, first radio communication mold
Block, 12, ground monitoring computer, 21, battery management module, 22, flight navigation to connection module, the 23, second wireless communication module,
24, third wireless communication module, 31, along power line near several charging stations, the 311, the 4th wireless communication module, 312, fill
Electric module.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more of the features.In the description of the present invention,
Unless otherwise indicated, the meaning of " plurality " is two or more.
Referring to figs. 1 to Fig. 3, the technical scheme adopted by the invention is that, a kind of power-line patrolling unmanned plane wireless charging relaying
System, system include the ground monitoring module 1 being arranged in ground monitoring module, power-line patrolling unmanned plane 2 and charging station network
3, wherein
Ground monitoring module 1 includes the first wireless communication module 11 and long-range control electric power for obtaining unmanned plane coordinate
The ground monitoring computer 12 of patrol UAV 2；Ground monitoring computer 12 and the communication connection of the first wireless communication module 11, and
Data exchange is carried out by wireless transmission channel and the second wireless communication 23.
First wireless communication module 11 is GPRS module, for the wireless communication of unmanned plane and ground monitoring module, first
Wireless communication module 11 returns to ground monitoring computer 12, ground monitoring by unmanned plane coordinate and away from its nearest charging station coordinates
Computer 12 according to the charging station coordinates information of storage, calculates unmanned plane 2 at a distance from all charging stations 31, is compared simultaneously
Compared with.To obtain the charging station coordinates nearest apart from unmanned plane.
The three-dimensional coordinate information that all charging stations 31 in charging station network 3 have been embedded in ground monitoring computer 12, is convenient for
Follow-up maintenance, ground monitoring computer 12 are used to obtain the coordinate information of power-line patrolling unmanned plane 2, posture information and have fault-free
Situation remotely controls unmanned plane.Ground monitoring computer 12 obtains nobody by receiving the unmanned plane coordinate that unmanned plane 2 transmits
The status information of machine.The nothing that data communication between the two is established by the second wireless communication 23 and the first wireless communication module 11
Line communication channel is transmitted.
Power-line patrolling unmanned plane 2 includes battery management module 21, flight navigation thereon to connection module 22 and multiple second
Wireless communication module 23 and third wireless communication module 24, wherein the second wireless communication module 23 is GPRS module, and third is wireless
Communication module 24 is bluetooth module, and battery management module 21 is used to provide power supply for unmanned plane, and flight navigation controls connection module 22
The flight of entire unmanned plane is made, the second wireless communication module 23 obtains the vertical range of unmanned plane and charging station, unmanned plane 2 in real time
The spatial coordinated information of unmanned plane 2 is sent to the first wireless communication module 11 by the first wireless communication module 23；Cell tube
Reason module 21 and flight navigation are arranged on power-line patrolling unmanned plane 2 connection module 22, and battery management module 21 includes being used for
It monitors the charge management module of battery capacity situation and provides the lithium battery group of power supply for unmanned plane；Flight navigation is to connection module 22
Including flight master control navigation module and vision guided navigation to connection module, flight master control navigation module is used to control flying for entire unmanned plane
Row, vision guided navigation to connection module for determining UAV Attitude and correcting, obtain in real time power-line patrolling unmanned plane 2 with apart from it most
The vertical range of close charging station 31, the video pictures acquired by vision guided navigation module, can with real-time judge unmanned plane with fill
The distance between power station.
Referring to Fig. 3, flight master control navigation module includes main control module, strap down inertial navigation and GPS integrated navigation module, and strapdown is used
Property and GPS integrated navigation module include Inertial Measurement Unit, three axle magnetometer, GPS module and barometer, can more accurately
Near Navigation of Pilotless Aircraft to target charging station.
Vision guided navigation includes camera module, ultrasonic distance measuring module, unmanned plane from processor module to connection module, can be real
Existing unmanned plane is docked with the accurate of charging station.
Referring to Fig. 2, charging station network 3 comprising several chargings that interval around 0.5km-5km is arranged along power line
Stand 31, charging station 31 includes the 4th wireless communication module 311, charging module 312 and landing beacon, the 4th wireless communication module
311 be bluetooth module, for being communicated with unmanned plane 2, to obtain the real-time charged state of unmanned plane 2, carries out charging process
Control.Charging station 31 is used to charge to unmanned plane battery pack；Landing beacon is two dimensional code.Charging module 312 is arranged in charging station
On 31, charging module 312 includes for the power module of the power supply to 31 modules of charging station and the 4th wireless communication module
311 are communicated and are controlled the main control module of the working condition of energy transmitting module and the energy by electric energy wireless transmission to unmanned plane
Transmitting module is measured, energy transmitting module includes the DC-AC high-frequency inversion module and transmitting coil by cable connection, DC-AC high
Frequency inverter module is connected with the AC power source of charging station.
Bluetooth module is the wireless communication link of charging station 31 and unmanned plane 2.When unmanned plane 2 docks completion with charging station 31
When, connection module 22 is completed to determine by unmanned plane during flying navigation, and issues wireless signal, third wireless communication module 24 and the
After four wireless communication modules, 311 successful matching, start to receive the instruction charging that the sending of unmanned plane charge management module starts to charge
Instruction；After charging complete, it is responsible for receiving the order that the charging that unmanned plane charge management module issues is completed, stops charging.
Energy transmitting module, i.e. DC-AC inverter module (E power-like amplifier inverter circuit), by DC inverter to height
Electric energy is transferred to unmanned plane by energy transmitting coil and resonance magnetic coupling wireless power transmission technology by frequency alternating current.
Referring to Fig. 4, a kind of power-line patrolling unmanned plane wireless charging method includes the following steps：
Step 1, charge management module real-time monitoring battery dump energy during line walking on unmanned plane 2, and will work as
Preceding coordinate information is sent to ground monitoring module 1, and the current coordinate information of unmanned plane surveys connection module by flight navigation
Amount；
Step 2, ground monitoring computer 12 are currently sat according to embedded each charging station coordinates information and unmanned plane 2
Information is marked, calculates unmanned plane at a distance from all charging stations, is sat the charging station nearest from unmanned plane can be returned after calculating
Mark information；
The main control module calculating of step 3, unmanned plane 2 terminates the time that this aerial mission needs, and calculates unmanned plane
Whether remaining capacity this time flight (i.e. whether calculating battery needs to charge) is able to satisfy cruise duration；If obtaining lithium battery after calculating
Group needs to charge, and carries out step 4, if showing that lithium battery group does not need to charge after calculating, return step 1；
The current location of unmanned plane 2 is labeled as interruption position by step 4, and extremely using strap down inertial navigation and GPS integrated navigation
Near target charging station, but since integrated navigation system error is in 1m-2m, it is unable to satisfy the requirement accurately docked, therefore, then benefit
It is completed to dock with the accurate of charging station 31 with view-based access control model navigation.After the completion of docking, is navigated by unmanned plane during flying and dock mould
Block is completed to determine, and issues wireless signal, and established by third wireless communication module 24 and the 4th wireless communication module 311
Wireless transfer channel notifies charging station 31 its oneself through entering the ready state that charges.Then, charging station can be to be based on the power amplification of E class
Device wireless power transmission mode charges to the lithium battery group of unmanned plane, in entire charging process, unmanned plane charge management module
21 can continue to monitor lithium battery group electricity, after fully charged, charge management module on unmanned plane 2 send stop charge command to
Charging station 31.Interruption position and line walking task is continued to execute finally, unmanned plane flies back.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (10)
1. a kind of power-line patrolling unmanned plane wireless charging relay system, which is characterized in that including ground monitoring module (1), charging
It stands and network (3) and charhing unit on unmanned plane (2) is set, wherein
Ground monitoring module (1) includes the first wireless communication module (11) and ground monitoring computer (12) of electrical connection；
Charhing unit includes battery management module (21), flight navigation to connection module (22) and multiple second wireless communication modules
(23) connected with third wireless communication module (24), battery management module (21) and third wireless communication module (24) by cable
It connects, flight navigation connects connection module (22) and the second wireless communication module (23)；
Charging station network (3) includes several charging stations (31) being arranged along power line, and charging station is provided with the 4th in (31)
Wireless communication module (311), charging module (312) and landing beacon, charging module (312) and the 4th wireless communication module
(311) pass through cable connection；
Ground monitoring module (1) and unmanned plane (2) pass through the first wireless communication module (11) and the second wireless communication module (23)
Establish connection；Unmanned plane (2) and charging station (31) pass through third wireless communication module (24) and the 4th wireless communication module (311)
Establish connection.
2. a kind of power-line patrolling unmanned plane wireless charging relay system according to claim 1, which is characterized in that ground prison
Control computer (12) is used to obtain the coordinate of power-line patrolling unmanned plane (2), and according to the coordinate information of the charging station of storage (31)
Unmanned plane (2) are calculated at a distance from all charging stations (31), find out the charging station coordinates nearest apart from unmanned plane；
Battery management module (21) includes charge management module for monitoring battery capacity situation and provides power supply for unmanned plane
Lithium battery group；Flight navigation includes flight master control navigation module and vision to connection module (22) to connection module (22) flight navigation
Navigation is to connection module, for controlling the flight of unmanned plane.
3. a kind of power-line patrolling unmanned plane wireless charging relay system according to claim 1, which is characterized in that charging mould
Block (312) includes power module, main control module and energy transmitting module, power module and main control module and energy transmitting module
By cable connection, by cable connection, energy transmitting module includes passing through cable connection for main control module and energy transmitting module
DC-AC high-frequency inversion module and transmitting coil, DC-AC high-frequency inversion module connected with the AC power source of charging station；Wherein, main
Control module with the 4th wireless communication module (311) for being communicated and controlling the working condition of energy transmitting module.
4. a kind of power-line patrolling unmanned plane wireless charging relay system according to claim 1, which is characterized in that the first nothing
Line communication module (11) and wireless communication module (23) are GPRS module, third wireless communication module (24) and the 4th channel radio
Believe that module (311) are bluetooth module.
5. a kind of power-line patrolling unmanned plane wireless charging relay system according to claim 1, which is characterized in that charging station
In network (3), the spacing distance of charging station (31) is：0.5km-5km.
6. a kind of power-line patrolling unmanned plane wireless charging relay system according to claim 1, which is characterized in that ground prison
The three-dimensional coordinate of all charging stations (31) is embedded in control computer.
7. a kind of power-line patrolling unmanned plane wireless charging method based on claim 1-6 any one, which is characterized in that including
Following steps：
Step 1, during line walking, the remaining capacity of the charge management module real-time monitoring lithium battery group on unmanned plane (2), fly
Current coordinate information is sent to ground monitoring computer (12) to connection module (22) by row navigation；
Step 2, ground monitoring computer (12) are currently sat according to embedded each charging station coordinates information and unmanned plane (2)
Information is marked, calculates unmanned plane at a distance from all charging stations, is returning to the charging station coordinates nearest from unmanned plane after calculating
Information；
Step 3, the flight navigation of unmanned plane (2) calculate whether lithium battery group needs to charge to connection module (22)；If desired it charges,
Step 4 is carried out, if showing that lithium battery group does not need to charge after calculating, return step 1；
Step 4, unmanned plane (2) flight are docked to being docked with it apart from nearest charging station, and with charging module (312)
After the completion, charging module (312) is charged in a manner of wireless charging to lithium battery group, and after fully charged, unmanned plane (2), which continues to execute, to be patrolled
Line task.
8. power-line patrolling unmanned plane wireless charging method according to claim 7, which is characterized in that in step 4, utilize E
DC inverter is high-frequency alternating current by power-like amplifier inverter circuit, passes through energy using resonance magnetic coupling wireless power transmission technology
It measures transmitting coil and electric energy is transferred to lithium battery group.
9. power-line patrolling unmanned plane wireless charging method according to claim 7, which is characterized in that in step 4, unmanned plane
Before flying to charging station (31), it will position mark be at that time interruption position, and after charging complete, return to interruption position.
10. power-line patrolling unmanned plane wireless charging method according to claim 7, which is characterized in that in step 4, utilize
Then strap down inertial navigation and GPS integrated navigation module dock mould using vision guided navigation near Navigation of Pilotless Aircraft to target charging station
Block realizes that unmanned plane is docked with the accurate of charging station.
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| CN112109576A (en) * | 2020-09-10 | 2020-12-22 | 军事科学院系统工程研究院军事新能源技术研究所 | Unmanned aerial vehicle autonomous tracking charging method and device |
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| CN109279041A (en) * | 2018-11-29 | 2019-01-29 | 山东宇航航空科技有限公司 | A kind of multi-functional unmanned plane during flying platform |
| CN109279041B (en) * | 2018-11-29 | 2024-05-31 | 山东宇航航空科技有限公司 | Multifunctional unmanned aerial vehicle flight platform |
| CN109471453A (en) * | 2018-12-25 | 2019-03-15 | 长春理工大学 | Unmanned plane relay station cruise system |
| CN109471453B (en) * | 2018-12-25 | 2022-05-10 | 长春理工大学 | Unmanned aerial vehicle relay station cruise system |
| CN110254258A (en) * | 2019-06-13 | 2019-09-20 | 暨南大学 | A kind of unmanned plane wireless charging system and method |
| CN110297498A (en) * | 2019-06-13 | 2019-10-01 | 暨南大学 | A kind of rail polling method and system based on wireless charging unmanned plane |
| CN110844100B (en) * | 2019-10-24 | 2021-10-01 | 福建和盛高科技产业有限公司 | Unmanned aerial vehicle-based automatic inspection method and system for power distribution network |
| CN110844100A (en) * | 2019-10-24 | 2020-02-28 | 福建和盛高科技产业有限公司 | Unmanned aerial vehicle-based automatic inspection method and system for power distribution network |
| CN111216572A (en) * | 2020-02-27 | 2020-06-02 | 西北工业大学 | Wireless charging method for unmanned aerial vehicle cluster |
| CN111585643A (en) * | 2020-05-13 | 2020-08-25 | 广州邦讯信息系统有限公司 | Remote real-time monitoring method applied to power line stringing process |
| CN111766895A (en) * | 2020-05-29 | 2020-10-13 | 苏州云思翼电子科技有限公司 | Unmanned aerial vehicle inspection system and method for photovoltaic power station |
| CN111786470A (en) * | 2020-06-29 | 2020-10-16 | 哈尔滨工业大学 | Unmanned aerial vehicle cluster wireless charging circuit topology and power flow control method |
| CN111786470B (en) * | 2020-06-29 | 2023-01-31 | 哈尔滨工业大学 | Unmanned aerial vehicle cluster wireless charging circuit topology and power flow control method |
| CN111890959A (en) * | 2020-07-02 | 2020-11-06 | 湖南大学 | Self-charging long-time flight device of electric multi-rotor unmanned aerial vehicle |
| CN112109577A (en) * | 2020-09-10 | 2020-12-22 | 军事科学院系统工程研究院军事新能源技术研究所 | Unmanned aerial vehicle autonomous tracking wireless charging system |
| CN112109576A (en) * | 2020-09-10 | 2020-12-22 | 军事科学院系统工程研究院军事新能源技术研究所 | Unmanned aerial vehicle autonomous tracking charging method and device |
| CN112277668A (en) * | 2020-10-29 | 2021-01-29 | 国网河南省电力公司济源供电公司 | Unmanned aerial vehicle charging system suitable for power line cruises |
| CN112379690A (en) * | 2020-11-05 | 2021-02-19 | 浙江点辰航空科技有限公司 | Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system |
| CN112636422A (en) * | 2020-12-16 | 2021-04-09 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Seabed distributed relay charging system and method |
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Application publication date: 20181116 |