CN110182090B - Unmanned aerial vehicle charging system and unmanned aerial vehicle charging method - Google Patents
Unmanned aerial vehicle charging system and unmanned aerial vehicle charging method Download PDFInfo
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- CN110182090B CN110182090B CN201910583399.3A CN201910583399A CN110182090B CN 110182090 B CN110182090 B CN 110182090B CN 201910583399 A CN201910583399 A CN 201910583399A CN 110182090 B CN110182090 B CN 110182090B
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/62—Monitoring or controlling charging stations in response to charging parameters, e.g. current, voltage or electrical charge
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
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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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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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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- 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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- 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
- Y02T90/12—Electric charging stations
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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
Abstract
The invention provides an unmanned aerial vehicle charging system and an unmanned aerial vehicle charging method, wherein the unmanned aerial vehicle charging system comprises a wireless charging receiving device, a ground wireless charging platform and a positioning device, wherein the wireless charging receiving device is arranged on an unmanned aerial vehicle; the ground wireless charging platform is arranged on the ground; the positioning device is used for determining the relative position of the unmanned aerial vehicle and the ground wireless charging platform so as to guide the unmanned aerial vehicle to land on the ground wireless charging platform; the ground wireless charging platform is used for charging the unmanned aerial vehicle through the wireless charging receiving device when the unmanned aerial vehicle descends to the ground wireless charging platform. Thereby can charge it according to many rotor unmanned aerial vehicle's residual capacity, guarantee that many rotor unmanned aerial vehicle continuously carries out the operation, can carry great powerful payload simultaneously, extension many rotor unmanned aerial vehicle's range of application. Thereby solved many rotor unmanned aerial vehicle among the prior art electric energy storage not enough can not long-time operation and can not carry high-power payload's problem.
Description
Technical Field
The invention relates to an unmanned aerial vehicle charging system and an unmanned aerial vehicle charging method.
Background
The multi-rotor unmanned aerial vehicle has the characteristics of simple control, capability of taking off and landing vertically, relatively high lifting height, capability of hovering in the air for a long time after taking off, and the like. The system is widely applied to the fields of disaster relief and rescue, environment monitoring, border patrol, base security, scenic spot monitoring, geological survey, field operation, forest fire prevention, emergency communication, public security anti-terrorism, traffic supervision, news broadcasting, engineering monitoring, movie shooting, internet of things, scientific research, national defense and military and the like.
However, the energy source of the existing multi-rotor unmanned aerial vehicle is a lithium battery carried by the unmanned aerial vehicle, and the limited energy is required to be used for flying the unmanned aerial vehicle and simultaneously supplying power to other loads or electronic equipment on the unmanned aerial vehicle. The existing multi-rotor unmanned aerial vehicle can fly for one or two hours, and can not carry a high-power effective load, so that the application range of the multi-rotor unmanned aerial vehicle is greatly limited.
Disclosure of Invention
The invention mainly aims to provide an unmanned aerial vehicle charging system and an unmanned aerial vehicle charging method, and aims to solve the problems that a multi-rotor unmanned aerial vehicle in the prior art cannot operate for a long time due to insufficient electric energy storage and cannot carry a high-power effective load.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a charging system for a drone, comprising: the wireless charging receiving device is arranged on the unmanned aerial vehicle; the ground wireless charging platform is arranged on the ground; a positioning device; the positioning device is used for determining the relative position of the unmanned aerial vehicle and the ground wireless charging platform so as to guide the unmanned aerial vehicle to land on the ground wireless charging platform; the ground wireless charging platform is used for charging the unmanned aerial vehicle through the wireless charging receiving device when the unmanned aerial vehicle descends to the ground wireless charging platform.
Further, unmanned aerial vehicle includes power battery group and the power management unit who is connected with power battery group, and wireless charging receiving arrangement includes: the wireless charging receiving antenna is connected with the power management unit through the rectification conversion circuit; the ground wireless charging platform comprises a power supply, an inverter circuit and a wireless charging transmitting antenna, wherein the power supply is connected with the wireless charging transmitting antenna through the inverter circuit so as to convert direct current into high-frequency alternating current and load the high-frequency alternating current on the wireless charging transmitting antenna to generate an alternating electromagnetic field; the positioning device is also used for aligning the wireless charging receiving antenna and the wireless charging transmitting antenna when the unmanned aerial vehicle is guided to land on the ground wireless charging platform, so that the wireless charging receiving antenna is coupled to the alternating electromagnetic field to generate alternating current with certain intensity, and the alternating current is rectified by the rectification and transformation circuit to charge the power battery pack.
Further, ground wireless charging platform still includes: the wireless charging control unit is connected with the power supply and the inverter circuit to control the power supply and the inverter circuit; the ground communication unit is connected with the wireless charging control unit; the unmanned aerial vehicle charging system also comprises an unmanned aerial vehicle main control unit and an unmanned aerial vehicle communication unit which are arranged on the unmanned aerial vehicle, wherein the unmanned aerial vehicle main control unit is connected with the power management unit so as to monitor the electric quantity of the power battery pack and control the charging process of the power battery pack; the unmanned aerial vehicle main control unit establishes communication connection with the ground communication unit through the unmanned aerial vehicle communication unit to send the instruction of stopping charging to the wireless charging control unit when the electric quantity of power battery group is full of power, the wireless charging control unit cuts off power supply according to the instruction of stopping charging to the power battery group.
Further, the positioning device includes: the GPS positioning unit is arranged on the unmanned aerial vehicle and is used for acquiring longitude, latitude and flight speed information of the unmanned aerial vehicle; the sensor unit is arranged on the unmanned aerial vehicle and used for acquiring specific force acceleration values, angular velocity values, magnetic field strength values and height values of three axial directions of the unmanned aerial vehicle.
Further, the positioning device further comprises: the ultrasonic generator is arranged on the unmanned aerial vehicle and is connected with the unmanned aerial vehicle main control unit; the plurality of ultrasonic receivers are arranged on the ground wireless charging platform at intervals along a preset linear direction; the ultrasonic generator is used for transmitting ultrasonic signals, and each ultrasonic receiver is used for receiving the ultrasonic signals; the wireless charging control unit is used for calculating the distance between the ultrasonic generator and each ultrasonic receiver according to the time difference between the ultrasonic signal received by each ultrasonic receiver and the ultrasonic signal transmitted by the ultrasonic generator; the unmanned aerial vehicle main control unit is used for adjusting the relative position of the unmanned aerial vehicle and the ground wireless charging platform according to the distance between the ultrasonic generator and each ultrasonic receiver; and when the distance between the ultrasonic generator and each ultrasonic receiver meets the preset condition, the unmanned aerial vehicle is controlled to land on the ground wireless charging platform so that the wireless charging receiving antenna and the wireless charging transmitting antenna are aligned with each other.
According to a second aspect of the present invention, there is provided an unmanned aerial vehicle charging method, which is applied to the unmanned aerial vehicle charging system described above, and the charging method includes: determining the relative position of the unmanned aerial vehicle and the ground wireless charging platform and guiding the unmanned aerial vehicle to land on the ground wireless charging platform; the ground wireless charging platform charges the unmanned aerial vehicle in an electromagnetic coupling mode through a wireless charging receiving device carried on the unmanned aerial vehicle.
Further, confirm the relative position of unmanned aerial vehicle and the wireless platform that charges in ground and guide unmanned aerial vehicle to descend to the wireless platform that charges in ground and include: acquiring position information and flight state information of the unmanned aerial vehicle through a GPS positioning unit and a sensor unit which are carried on the unmanned aerial vehicle; the unmanned aerial vehicle main control unit carried on the unmanned aerial vehicle is in communication connection with the wireless charging control unit on the ground wireless charging platform;
the unmanned aerial vehicle main control unit and the ground wireless charging platform control the unmanned aerial vehicle to fly to the vicinity above the ground wireless charging platform according to the position information and the flight state information of the unmanned aerial vehicle and the position information of the ground wireless charging platform;
wherein, unmanned aerial vehicle's positional information and flight status information include at least one of following: longitude, latitude, flying speed, specific force acceleration values of three axial directions, angular velocity values of three axial directions, magnetic field strength values of three axial directions and height values.
Further, confirm that unmanned aerial vehicle and the wireless platform that charges in ground relative position and guide unmanned aerial vehicle to descend and still include on the wireless platform that charges in ground: transmitting ultrasonic signals to a plurality of ultrasonic receivers arranged on a ground wireless charging platform through an ultrasonic generator carried on an unmanned aerial vehicle; the wireless charging control unit calculates the distance between the ultrasonic generator and each ultrasonic receiver according to the time difference between the ultrasonic signal received by each ultrasonic receiver and the ultrasonic signal sent by the ultrasonic generator; when the distance between the ultrasonic generator and each ultrasonic receiver meets a preset condition, the unmanned aerial vehicle is controlled by the unmanned aerial vehicle main control unit to land on a ground wireless charging platform so that a wireless charging receiving antenna carried on the unmanned aerial vehicle and a wireless charging transmitting antenna arranged on the ground wireless charging platform are aligned with each other to charge the unmanned aerial vehicle in an electromagnetic coupling mode; wherein, each ultrasonic receiver sets up on the wireless platform that charges in ground along predetermineeing the linear direction interval.
Furthermore, the number of the ultrasonic receivers is three, and the distance between one ultrasonic receiver in the middle and two ultrasonic receivers on two sides is equal; when the distance between the ultrasonic generator and one ultrasonic receiver positioned in the middle is equal to the height value of the unmanned aerial vehicle and the distance between the ultrasonic generator and two ultrasonic receivers positioned on two sides is equal, the unmanned aerial vehicle is controlled to land on a ground wireless charging platform so that the wireless charging receiving antenna and the wireless charging transmitting antenna are aligned with each other; the ultrasonic generator is arranged at the central point of the wireless charging receiving antenna or on an axial extension line of the central point; the ultrasonic receiver located in the middle is installed on the central point of the wireless charging transmitting antenna.
Further, by the wireless receiving arrangement that charges of ground through the mode of wireless charging to unmanned aerial vehicle with electromagnetic coupling including: converting direct current into high-frequency alternating current through an inverter circuit and loading the high-frequency alternating current on a wireless charging transmitting antenna of a ground wireless charging platform to generate an alternating electromagnetic field; the wireless charging receiving antenna of the wireless charging receiving device is coupled to the alternating electromagnetic field to generate alternating current with certain intensity, and the alternating current is rectified by the rectifying and converting circuit of the wireless charging receiving device and then is charged to the unmanned aerial vehicle.
The unmanned aerial vehicle charging system applying the technical scheme of the invention comprises a wireless charging receiving device, a ground wireless charging platform and a positioning device, wherein the wireless charging receiving device is arranged on the unmanned aerial vehicle; the ground wireless charging platform is arranged on the ground; the positioning device is used for determining the relative position of the unmanned aerial vehicle and the ground wireless charging platform so as to guide the unmanned aerial vehicle to land on the ground wireless charging platform; the ground wireless charging platform is used for charging the unmanned aerial vehicle through the wireless charging receiving device when the unmanned aerial vehicle descends to the ground wireless charging platform. Thereby carry out the operation in-process at many rotor unmanned aerial vehicle, can charge it according to many rotor unmanned aerial vehicle's residual capacity, guarantee that many rotor unmanned aerial vehicle continuously carries out the operation, can carry great powerful payload simultaneously, extension many rotor unmanned aerial vehicle's range of application. Thereby solved many rotor unmanned aerial vehicle among the prior art electric energy storage not enough can not long-time operation and can not carry high-power payload's problem.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of an alternative charging system for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle to which an unmanned aerial vehicle charging system according to an embodiment of the present invention is applied; and
fig. 3 is a schematic diagram illustrating a positioning principle of an alternative charging system for an unmanned aerial vehicle for charging the unmanned aerial vehicle according to an embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. a wireless charging receiving device; 11. a wireless charging receiving antenna; 12. a rectification conversion circuit; 20. an unmanned aerial vehicle; 30. a ground wireless charging platform; 31. a power supply; 32. an inverter circuit; 33. a wireless charging transmitting antenna; 34. a wireless charging control unit; 35. a ground communication unit; 40. a positioning device; 41. a GPS positioning unit; 42. a sensor unit; 43. an ultrasonic generator; 44. an ultrasonic receiver; 50. a power battery pack; 60. a power management unit; 70. an unmanned aerial vehicle main control unit; 80. an unmanned aerial vehicle communication unit; 90. a solar photovoltaic cell set; 91. a DC conversion circuit.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
According to the charging system of the unmanned aerial vehicle of the embodiment of the invention, as shown in fig. 1, the charging system comprises a wireless charging receiving device 10, a ground wireless charging platform 30 and a positioning device 40, wherein the wireless charging receiving device 10 is arranged on an unmanned aerial vehicle 20; the ground wireless charging platform 30 is arranged on the ground; the positioning device 40 is used for determining the relative position of the unmanned aerial vehicle 20 and the ground wireless charging platform 30 to guide the unmanned aerial vehicle 20 to land on the ground wireless charging platform 30; the ground wireless charging platform 30 is used for charging the unmanned aerial vehicle 20 through the wireless charging receiving device 10 when the unmanned aerial vehicle 20 lands on the ground wireless charging platform 30. Thereby carry out the operation in-process at many rotor unmanned aerial vehicle, can charge it according to many rotor unmanned aerial vehicle's residual capacity, guarantee that many rotor unmanned aerial vehicle continuously carries out the operation, can carry great powerful payload simultaneously, extension many rotor unmanned aerial vehicle's range of application. Thereby solved many rotor unmanned aerial vehicle among the prior art electric energy storage not enough can not long-time operation and can not carry high-power payload's problem.
In specific implementation, the unmanned aerial vehicle 20 includes a power battery pack 50, a power management unit 60, an unmanned aerial vehicle main control unit 70 and an unmanned aerial vehicle communication unit 80, the power battery pack 50 is connected with the power management unit 60, and the unmanned aerial vehicle main control unit 70 is connected with the power management unit 60 and the unmanned aerial vehicle communication unit 80; the main control unit 70 of the unmanned aerial vehicle is connected with the power management unit 60 and is used for monitoring the electric quantity of the power battery pack 50 and controlling the charging process of the power battery pack 50. The wireless charging receiving device 10 includes a wireless charging receiving antenna 11 and a rectification conversion circuit 12, and the wireless charging receiving antenna 11 is connected to the power management unit 60 through the rectification conversion circuit 12.
The ground wireless charging platform 30 comprises a power supply 31, an inverter circuit 32, a wireless charging transmitting antenna 33, a wireless charging control unit 34 and a ground communication unit 35, wherein the power supply 31 is a direct current power supply, the power supply 31 is connected with the wireless charging transmitting antenna 33 through the inverter circuit 32 to convert direct current into high-frequency alternating current and load the high-frequency alternating current on the wireless charging transmitting antenna 33 to generate an alternating electromagnetic field, and the wireless charging control unit 34 is connected with the power supply 31 and the inverter circuit 32 to control the power supply 31 and the inverter circuit 32; when the unmanned aerial vehicle 20 lands on the ground wireless charging platform 30, the wireless charging receiving antenna 11 and the wireless charging transmitting antenna 33 are aligned with each other so that the wireless charging receiving antenna 11 is coupled to the alternating electromagnetic field to generate alternating current with a certain intensity, and the alternating current is rectified by the rectification and transformation circuit 12 to charge the power battery pack 50.
Ground communication unit 35 is connected with wireless charging control unit 34, unmanned aerial vehicle main control unit 70 establishes communication connection with ground communication unit 35 through unmanned aerial vehicle communication unit 80, thereby communicate through unmanned aerial vehicle communication unit 80 and ground communication unit 35 when unmanned aerial vehicle main control unit 70 monitors that the electric quantity of power battery pack 50 is full of power to send the instruction of stopping charging to wireless charging control unit 34, wireless charging control unit 34 cuts off power supply 31 according to the instruction of stopping charging to power battery pack 50 according to the instruction of stopping charging.
Further, the positioning device 40 includes a GPS positioning unit 41 and a sensor unit 42, the GPS positioning unit 41 and the sensor unit 42 are both disposed on the drone 20, and the GPS positioning unit 41 is configured to acquire longitude, latitude, and flight speed information of the drone 20; the sensor unit 42 includes a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer and a barometer, the three-axis accelerometer is used for acquiring specific acceleration values of the unmanned aerial vehicle 20 in three axial directions, the three-axis gyroscope is used for acquiring angular velocity values of the unmanned aerial vehicle 20 in three axial directions, the three-axis magnetometer is used for acquiring magnetic field strength values of the unmanned aerial vehicle 20 in three axial directions, and the barometer is used for acquiring an air pressure value of a height at which the unmanned aerial vehicle 20 is located, so that the height value.
The cooperation of the GPS positioning unit 41 and the sensor unit 42 can enable the unmanned aerial vehicle 20 to fly to the vicinity above the ground wireless charging platform 30 to achieve approximate positioning, but the positioning accuracy cannot meet the requirement of aligning the wireless charging receiving antenna 11 and the wireless charging transmitting antenna 33 with each other for charging.
Further, the positioning device 40 further includes an ultrasonic generator 43 and an ultrasonic receiver 44, the ultrasonic generator 43 is disposed on the unmanned aerial vehicle 20 and connected with the unmanned aerial vehicle main control unit 70; the plurality of ultrasonic receivers 44 are arranged on the ground wireless charging platform 30 at intervals along a preset linear direction; specifically, there are three ultrasonic receivers 44, and the distance between one ultrasonic receiver 44 located in the middle and two ultrasonic receivers 44 located on both sides is equal; the ultrasonic generator 43 is installed at the central point of the wireless charging receiving antenna 11 or on the axial extension line of the central point; the ultrasonic receiver 44 located in the middle is installed on the center point of the wireless charging transmission antenna 33.
The ultrasonic generator 43 is used for emitting ultrasonic signals, and each ultrasonic receiver 44 is used for receiving ultrasonic signals; the wireless charging control unit 34 is configured to calculate a distance between the ultrasonic generator 43 and each ultrasonic receiver 44 according to a time difference between the ultrasonic signal received by each ultrasonic receiver 44 and the ultrasonic signal transmitted by the ultrasonic generator 43; the unmanned aerial vehicle main control unit 70 is used for adjusting the relative position of the unmanned aerial vehicle 20 and the ground wireless charging platform 30 according to the distance between the ultrasonic generator 43 and each ultrasonic receiver 44, when the distance between the ultrasonic generator 43 and one ultrasonic receiver 44 located in the middle is equal to the height value of the unmanned aerial vehicle 20 and the distance between the ultrasonic generator 43 and two ultrasonic receivers 44 located on two sides is equal, the unmanned aerial vehicle main control unit 70 controls the unmanned aerial vehicle 20 to land on the ground wireless charging platform 30 so that the wireless charging receiving antenna 11 and the wireless charging transmitting antenna 33 are aligned with each other, so that the wireless charging receiving antenna 11 is coupled to the alternating electromagnetic field generated by the wireless charging transmitting antenna 33, thereby generating alternating current with certain intensity and charging the power battery pack 50 after being rectified by the rectifying and converting circuit 12.
According to a second aspect of the present invention, there is provided a charging method for an unmanned aerial vehicle, the charging method for an unmanned aerial vehicle being applied to the charging system for an unmanned aerial vehicle of the above embodiment, the charging method comprising: determining the relative position of the unmanned aerial vehicle 20 and the ground wireless charging platform 30 and guiding the unmanned aerial vehicle 20 to land on the ground wireless charging platform 30; the ground wireless charging platform 30 charges the unmanned aerial vehicle 20 through the wireless charging receiving device 10 mounted on the unmanned aerial vehicle 20 in an electromagnetic coupling manner.
Specifically, determining the relative position of the drone 20 and the ground wireless charging platform 30 and guiding the drone 20 to land on the ground wireless charging platform 30 includes: the position information and the flight state information of the unmanned aerial vehicle 20 are acquired by the GPS positioning unit 41 and the sensor unit 42 mounted on the unmanned aerial vehicle 20, and the position information and the flight state information of the unmanned aerial vehicle 20 include at least one of: longitude, latitude, flying speed, specific force acceleration values in three axial directions, angular velocity values in three axial directions, magnetic field strength values in three axial directions and height values; the unmanned aerial vehicle main control unit 70 carried on the unmanned aerial vehicle 20 is in communication connection with the wireless charging control unit 34 on the ground wireless charging platform 30; the unmanned aerial vehicle main control unit 70 and the ground wireless charging platform 30 control the unmanned aerial vehicle 20 to fly to the vicinity above the ground wireless charging platform 30 according to the position information and the flight state information of the unmanned aerial vehicle 20 and the position information of the ground wireless charging platform 30 so as to realize approximate positioning.
In order to achieve the accurate positioning of the unmanned aerial vehicle 20 and the ground wireless charging platform 30, so as to align the wireless charging receiving antenna 11 and the wireless charging transmitting antenna 33 with each other, further, determining the relative position of the unmanned aerial vehicle 20 and the ground wireless charging platform 30 and guiding the unmanned aerial vehicle 20 to land on the ground wireless charging platform 30 further includes: transmitting ultrasonic signals to a plurality of ultrasonic receivers 44 provided on the ground wireless charging platform 30 through an ultrasonic generator 43 mounted on the unmanned aerial vehicle 20; the distance between the ultrasonic wave generator 43 and each ultrasonic wave receiver 44 is calculated by the wireless charging control unit 34 according to the time difference between the ultrasonic wave signal received by each ultrasonic wave receiver 44 and the ultrasonic wave signal sent by the ultrasonic wave generator 43; specifically, there are three ultrasonic receivers 44, and the distance between one ultrasonic receiver 44 located in the middle and two ultrasonic receivers 44 located on both sides is equal; the ultrasonic generator 43 is installed at the central point of the wireless charging receiving antenna 11 or on the axial extension line of the central point; the ultrasonic receiver 44 located in the middle is installed on the center point of the wireless charging transmission antenna 33; when the distance between the ultrasonic generator 43 and the middle one of the ultrasonic receivers 44 is equal to the height of the unmanned aerial vehicle 20 and the distance between the ultrasonic generator 43 and the two ultrasonic receivers 44 on both sides is equal, the unmanned aerial vehicle 20 is controlled by the unmanned aerial vehicle main control unit 70 to land on the ground wireless charging platform 30 so that the wireless charging receiving antenna 11 mounted on the unmanned aerial vehicle 20 and the wireless charging transmitting antenna 33 disposed on the ground wireless charging platform 30 are aligned with each other to charge the unmanned aerial vehicle 20 in an electromagnetic coupling manner.
In practical application, the charging system for the unmanned aerial vehicle of the invention can be used for charging the unmanned aerial vehicle 20 by matching the wireless charging receiving device 10 and the ground wireless charging platform 30 of the above embodiment, and meanwhile, as shown in fig. 1 and 2, the charging system for the unmanned aerial vehicle 20 can also be used for charging the unmanned aerial vehicle 20 by using the solar photovoltaic battery pack 90. The surface can be by the partial design solar photovoltaic battery group 90 of solar irradiation in the unmanned aerial vehicle 20 flight process, thereby solar photovoltaic battery group 90 is connected to power battery group 50's charging port through direct current converting circuit 91 and charges for unmanned aerial vehicle 20 with solar energy conversion for the electric energy. The solar photovoltaic cell set 90 may be composed of one or more of a polycrystalline silicon cell, a monocrystalline silicon cell, a heterojunction cell, a thin film cell, a perovskite cell, a dye-sensitized cell, a gallium arsenide cell, and the like, and the solar photovoltaic cell set 90 is combined into one battery set by series connection and parallel connection according to the rated charging voltage of the power battery set 50 of the unmanned aerial vehicle 20.
The power battery pack 50 may be composed of a rechargeable lithium battery, etc., a charging input port of the power battery pack 50 is connected to the rectification and conversion circuit 12 of the wireless charging receiving device 10, an output port of the power battery pack 50 is connected to the power management unit 60, the power management unit 60 includes a plurality of step-up or step-down DC/DC conversion circuits, a voltage stabilizing circuit, an output equalization circuit, and an output switching circuit, and an output thereof is controlled by the main control unit 70 of the unmanned aerial vehicle. The output of the power battery pack 50 is converted by the power management unit 60 and then connected to the driving motor of the unmanned aerial vehicle 20, the loads of other devices, the GPS positioning unit 41, the sensor unit 42, the ultrasonic generator 43 and the unmanned aerial vehicle main control unit 70, so as to supply power to the above devices.
The wireless receiving antenna 11 that charges of wireless receiving arrangement 10 installs in the bottom of unmanned aerial vehicle 20 load, and this body coupling of bracket structure and unmanned aerial vehicle 20 through a non-metallic material preparation. The ground wireless charging platform 30 is generally installed on a mobile vehicle, and the power supply 31 of the ground wireless charging platform 30 can be input from a power supply port in the form of a ground vehicle-mounted power supply, a backup battery pack, a ground solar power generation system or other backup power supplies and is designed to be supplied with direct current.
During the flight of the unmanned aerial vehicle 20, the unmanned aerial vehicle main control unit 70 monitors the remaining power of the power battery pack 50 of the unmanned aerial vehicle 20 and the real-time coordinate information of the unmanned aerial vehicle 20 in real time, calculates the flight time and the required battery power returned to the nearest ground wireless charging platform 30, when the sum of the remaining power of the power battery pack 50 and the current power stably provided by the solar battery pack approaches to the power required to return to the nearest ground wireless charging platform 30, the unmanned aerial vehicle main control unit 70 establishes wireless communication connection with the wireless charging control unit 34 of the ground wireless charging platform 30 and starts to return, the unmanned aerial vehicle 20 determines the position of the unmanned aerial vehicle 20 and the position of the wireless charging transmitting antenna 33 of the ground wireless charging platform 30 through the positioning device 40 and the communication connection with the wireless charging control unit 34, and guides the unmanned aerial vehicle 20 to return to the ground, and the coil of the wireless charging receiving antenna 11 is aligned with the coil of the wireless charging transmitting antenna 33 of the ground wireless charging platform 30 and then is dropped.
Specifically, the positioning device 40 includes a GPS positioning unit 41, a sensor unit 42, and an ultrasonic generator 43 mounted on the unmanned aerial vehicle 20, and an ultrasonic receiver 44 disposed on the ground wireless charging platform 30, and the ultrasonic receiver 44 is configured with a corresponding a/D conversion circuit and a corresponding filter circuit.
When the unmanned aerial vehicle 20 needs to be charged during the return journey, the unmanned aerial vehicle main control unit 70 establishes wireless communication connection with the wireless charging control unit 34 of the ground wireless charging platform 30 through a communication network, and the combined navigation of the GPS positioning unit 41 and the sensor unit 42 is utilized to realize primary positioning, wherein the GPS positioning unit 41 can adopt a high-precision differential GPS positioning unit, the precision of which can reach centimeter level, but the requirement of wireless charging accurate positioning cannot be completely met. When the unmanned aerial vehicle 20 flies to the vicinity above the ground wireless charging platform 30 through the combined positioning of the GPS positioning unit 41 and the sensor unit 42, and the aerial positioning is completed according to the accuracy that can be realized by the combination of the GPS positioning unit 41 and the sensor unit 42, the unmanned aerial vehicle 20 starts to enter a high-accuracy positioning mode by using the ultrasonic generator 43 and the ultrasonic receiver 44. Wherein, the ultrasonic generator 43 is installed on the central point of the coil of the wireless charging receiving antenna 11 or on the axial extension line of the central point; the number of the ultrasonic receivers 44 is plural, and in the present embodiment, there are three ultrasonic receivers 44, and the three ultrasonic receivers 44 are installed on a straight line, as shown in fig. 3, for example, the three ultrasonic receivers 44 are a receiver a, a receiver B, and a receiver C, respectively, the receiver B is installed in the middle and coincides with the central point of the coil of the wireless charging transmission antenna 33, the receiver a and the receiver C are arranged at both ends, and the distance between the receiver B and the receiver a is equal to the distance between the receiver B and the receiver C.
When positioning is performed, the rotation speed of each driving motor of the drone 20 is adjusted so that the drone 20 hovers at a G point in the air, the height from the ground is a, wherein the height of the drone 20 can be calculated by the measurement data of the barometer in the sensor unit 42. The unmanned aerial vehicle 20 utilizes the ultrasonic generator 43 to emit an ultrasonic signal when locating, and constantly searches around the receiver B with the receiver B as the center, finally makes each ultrasonic receiver 44 all can receive the ultrasonic signal that the ultrasonic generator 43 sent, and the ultrasonic signal that ultrasonic receiver 44 received is sent to the analog input interface of the wireless charging control unit 34 of the wireless charging platform 30 in ground after filter circuit and the conversion of A/D converting circuit. Due to the limitation of the positioning accuracy range of the GPS positioning unit 41 and the sensor unit 42, the drone 20 may stay at a certain position at a certain distance from the receiver B. Taking the time difference between the ultrasonic signal received by each ultrasonic receiver 44 and the time when the ultrasonic generator 43 transmits the ultrasonic wave as T, the distances r1, r2 and r3 between the ultrasonic generator 43 and each ultrasonic receiver 44 can be calculated from d ═ CT (C is the propagation speed of the ultrasonic wave in the air), the position of the drone 20 is continuously adjusted while maintaining the altitude, when the drone 20 is closer to the receiver B, the lengths of r1, r2 and r3 are continuously shortened, when the distance r2 between the ultrasonic generator 43 and the receiver B is a and r1 ═ r3, that is, the drone 20 stays above the receiver B, the coil center points of the wireless charging transmitting antenna 33 and the wireless charging receiving antenna 11 are directly opposite, at this time, the drone 20 can enter a landing mode, the flying altitude can start to be slowly lowered, when the detected altitude is less than the threshold value at which the drone can be stopped, the driving motor of the unmanned aerial vehicle 20 stops rotating, the unmanned aerial vehicle 20 vertically descends on the ground wireless charging platform 30 and enables the wireless charging receiving antenna 11 and the wireless charging transmitting antenna 33 to be aligned with each other, and therefore accurate positioning between the antennas is achieved.
The ultrasonic wave transmitted from the ultrasonic wave generator 43 has a beam angle such that each ultrasonic wave receiver 44 can receive an ultrasonic wave signal at the time of positioning. When the unmanned aerial vehicle 20 stays at the height a and the center point of the ultrasonic generator 43 is over against the receiver B, the beam angle of the ultrasonic wave emitted by the ultrasonic generator 43 should be greater than the included angle AGC with the center point G of the ultrasonic generator 43 as the vertex.
When the unmanned aerial vehicle 20 is wirelessly charged, the direct current output by the power supply 31 is converted into high-frequency alternating current through the inverter circuit 32, the high-frequency alternating current is loaded on the coil of the wireless charging transmitting antenna 33 to generate an alternating electromagnetic field, the wireless charging receiving antenna 11 of the unmanned aerial vehicle 20 is coupled to the alternating electromagnetic field to generate alternating current with certain intensity, and the alternating current is converted into direct current through the rectifier conversion circuit 12 and is input into the power battery pack 50 of the unmanned aerial vehicle 20 from the charging port, so that the unmanned aerial vehicle 20 is automatically charged. In the whole charging process, the main control unit 70 of the unmanned aerial vehicle can continuously monitor the electric quantity of the power battery pack 50, and after the power battery pack 50 is fully charged, the main control unit 70 of the unmanned aerial vehicle sends a charging stop command to the wireless charging control unit 34 of the ground wireless charging platform 30 through communication to terminate the charging process.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An unmanned aerial vehicle charging system, comprising:
wireless receiving arrangement that charges (10), the setting is on unmanned aerial vehicle (20), wireless receiving arrangement that charges (10) includes: a wireless charging receiving antenna (11);
ground wireless charging platform (30), set up subaerial, ground wireless charging platform (30) includes: a wireless charging transmitting antenna (33);
a positioning device (40);
wherein the positioning device (40) is configured to determine a relative position of the drone (20) and the ground wireless charging platform (30) to guide the drone (20) to land on the ground wireless charging platform (30); the ground wireless charging platform (30) is used for charging the unmanned aerial vehicle (20) through the wireless charging receiving device (10) when the unmanned aerial vehicle (20) lands on the ground wireless charging platform (30);
the positioning device (40) comprises: an ultrasonic generator (43), an ultrasonic receiver (44) and a sensor unit (42);
the ultrasonic generator (43) is arranged on the central point of the wireless charging receiving antenna (11) or an axial extension line of the central point;
the number of the ultrasonic receivers (44) is three, the ultrasonic receivers are arranged on the ground wireless charging platform (30) at intervals along a preset linear direction, and the distance between one ultrasonic receiver (44) in the middle and the two ultrasonic receivers (44) on the two sides is equal; the ultrasonic receiver (44) located in the middle is installed on the central point of the wireless charging transmitting antenna (33);
a sensor unit (42) is arranged on the unmanned aerial vehicle (20), and the sensor unit (42) is used for acquiring the height value of the unmanned aerial vehicle (20);
when supersonic generator (43) with be located middle one distance between ultrasonic receiver (44) with unmanned aerial vehicle (20)'s altitude value equals, just supersonic generator (43) with be located two of both sides distance between ultrasonic receiver (44) is equal, control unmanned aerial vehicle (20) descend to on the wireless charging platform of ground (30) so that wireless receiving antenna that charges (11) with wireless transmitting antenna that charges (33) align each other.
2. The drone charging system according to claim 1, wherein the drone (20) comprises a power battery pack (50) and a power management unit (60) connected to the power battery pack (50), the wireless charge receiving arrangement (10) further comprising:
the wireless charging receiving antenna (11) is connected with the power management unit (60) through the rectification conversion circuit (12);
the ground wireless charging platform (30) comprises a power supply (31) and an inverter circuit (32), wherein the power supply (31) is connected with the wireless charging transmitting antenna (33) through the inverter circuit (32) to convert direct current into high-frequency alternating current and load the high-frequency alternating current on the wireless charging transmitting antenna (33) to generate an alternating electromagnetic field;
the positioning device (40) is also used for guiding the unmanned aerial vehicle (20) to land on the ground wireless charging platform (30), so that the wireless charging receiving antenna (11) and the wireless charging transmitting antenna (33) are aligned with each other to enable the wireless charging receiving antenna (11) to be coupled to the alternating electromagnetic field to generate alternating current with certain intensity and to be charged to the power battery pack (50) after being rectified by the rectification and transformation circuit (12).
3. The drone charging system of claim 2, wherein the ground wireless charging platform (30) further comprises:
a wireless charging control unit (34), the wireless charging control unit (34) being connected with the power supply (31) and the inverter circuit (32) to control the power supply (31) and the inverter circuit (32);
a ground communication unit (35) connected to the wireless charging control unit (34);
the unmanned aerial vehicle charging system further comprises an unmanned aerial vehicle main control unit (70) and an unmanned aerial vehicle communication unit (80) which are arranged on the unmanned aerial vehicle (20), wherein the unmanned aerial vehicle main control unit (70) is connected with the power management unit (60) to monitor the electric quantity of the power battery pack (50) and control the charging process of the power battery pack (50);
unmanned aerial vehicle main control unit (70) pass through unmanned aerial vehicle communication unit (80) with ground communication unit (35) establish communication connection, with be in when the electric quantity of power battery group (50) is full of to wireless charging control unit (34) send the instruction of stopping charging, wireless charging control unit (34) basis termination charging instruction cuts off power supply (31) in order to stop to power battery group (50) charge.
4. The drone charging system according to claim 3, characterized in that the positioning device (40) comprises:
the GPS positioning unit (41) is arranged on the unmanned aerial vehicle (20), and the GPS positioning unit (41) is used for acquiring longitude, latitude and flight speed information of the unmanned aerial vehicle (20);
the sensor unit (42) is also used for acquiring specific force acceleration values, angular velocity values and magnetic field strength values of the unmanned aerial vehicle (20) in three axial directions.
5. The unmanned aerial vehicle charging system of claim 4,
the ultrasonic generator (43) is connected with the unmanned aerial vehicle main control unit (70);
the ultrasonic generator (43) is used for transmitting ultrasonic signals, and each ultrasonic receiver (44) is used for receiving the ultrasonic signals;
the wireless charging control unit (34) is used for calculating the distance between the ultrasonic generator (43) and each ultrasonic receiver (44) according to the time difference between the ultrasonic signal received by each ultrasonic receiver (44) and the ultrasonic signal transmitted by the ultrasonic generator (43);
the unmanned aerial vehicle main control unit (70) is used for adjusting the relative position of the unmanned aerial vehicle (20) and the ground wireless charging platform (30) according to the distance between the ultrasonic generator (43) and each ultrasonic receiver (44); and when the distance between the ultrasonic generator (43) and each ultrasonic receiver (44) meets a preset condition, the unmanned aerial vehicle (20) is controlled to land on the ground wireless charging platform (30) so that the wireless charging receiving antenna (11) and the wireless charging transmitting antenna (33) are aligned with each other.
6. An unmanned aerial vehicle charging method applied to the unmanned aerial vehicle charging system of any one of claims 1 to 5, wherein the charging method comprises:
determining the relative position of an unmanned aerial vehicle (20) and a ground wireless charging platform (30) and guiding the unmanned aerial vehicle (20) to land on the ground wireless charging platform (30);
and the ground wireless charging platform (30) charges the unmanned aerial vehicle (20) through a wireless charging receiving device (10) carried on the unmanned aerial vehicle (20) in an electromagnetic coupling mode.
7. The drone charging method of claim 6, wherein determining the relative position of the drone (20) and the ground wireless charging platform (30) and directing the drone (20) to land on the ground wireless charging platform (30) comprises:
acquiring position information and flight state information of the unmanned aerial vehicle (20) through a GPS positioning unit (41) and a sensor unit (42) which are mounted on the unmanned aerial vehicle (20);
establishing communication connection between an unmanned aerial vehicle main control unit (70) carried on the unmanned aerial vehicle (20) and a wireless charging control unit (34) on the ground wireless charging platform (30);
controlling the unmanned aerial vehicle (20) to fly to the vicinity above the ground wireless charging platform (30) by the unmanned aerial vehicle main control unit (70) and the ground wireless charging platform (30) according to the position information and the flight state information of the unmanned aerial vehicle (20) and the position information of the ground wireless charging platform (30);
wherein the position information and flight status information of the drone (20) includes at least one of: longitude, latitude, flying speed, specific force acceleration values of three axial directions, angular velocity values of three axial directions, magnetic field strength values of three axial directions and height values.
8. The drone charging method of claim 7, wherein determining the relative position of the drone (20) and the ground wireless charging platform (30) and directing the drone (20) to land on the ground wireless charging platform (30) further comprises:
transmitting ultrasonic signals to a plurality of ultrasonic receivers (44) arranged on the ground wireless charging platform (30) through an ultrasonic generator (43) mounted on the unmanned aerial vehicle (20);
calculating, by the wireless charging control unit (34), a distance between the ultrasonic generator (43) and each ultrasonic receiver (44) according to a time difference between the ultrasonic signal received by each ultrasonic receiver (44) and the ultrasonic signal emitted by the ultrasonic generator (43);
when the distance between the ultrasonic generator (43) and each ultrasonic receiver (44) meets a preset condition, the unmanned aerial vehicle (20) is controlled by the unmanned aerial vehicle main control unit (70) to land on the ground wireless charging platform (30) so that a wireless charging receiving antenna (11) carried on the unmanned aerial vehicle (20) and a wireless charging transmitting antenna (33) arranged on the ground wireless charging platform (30) are aligned with each other to charge the unmanned aerial vehicle (20) in an electromagnetic coupling mode;
wherein, each ultrasonic receiver (44) is arranged on the ground wireless charging platform (30) at intervals along a preset linear direction.
9. The drone charging method according to claim 6, wherein the electromagnetically coupled charging of the drone (20) by the ground wireless charging platform (30) through the wireless charging receiving arrangement (10) comprises:
converting direct current into high-frequency alternating current through an inverter circuit and loading the high-frequency alternating current on a wireless charging transmitting antenna (33) of the ground wireless charging platform (30) to generate an alternating electromagnetic field;
the wireless charging receiving antenna (11) of the wireless charging receiving device (10) is coupled to the alternating electromagnetic field to generate alternating current with certain intensity, and the alternating current is rectified by the rectification conversion circuit (12) of the wireless charging receiving device (10) to charge the unmanned aerial vehicle (20).
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| CN111106880B (en) * | 2019-12-30 | 2022-05-13 | 湖北航天技术研究院总体设计所 | Wireless test emission control system and method for aircraft |
| CN115133875B (en) * | 2022-08-31 | 2022-11-25 | 苏州莱科斯新能源科技有限公司 | Detection method and storage medium of unmanned aerial vehicle EL detection system |
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| US20190152326A1 (en) * | 2017-11-21 | 2019-05-23 | Honda Motor Co., Ltd. | Charging apparatus |
| CN109066930A (en) * | 2018-08-22 | 2018-12-21 | 西安电掣风云智能科技有限公司 | Multichannel unmanned plane non-contact type wireless wideband charging unit and its charging method |
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