CN110239374A - A kind of the unmanned plane wireless charging device and method of adaptive location - Google Patents
A kind of the unmanned plane wireless charging device and method of adaptive location Download PDFInfo
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- CN110239374A CN110239374A CN201910541610.5A CN201910541610A CN110239374A CN 110239374 A CN110239374 A CN 110239374A CN 201910541610 A CN201910541610 A CN 201910541610A CN 110239374 A CN110239374 A CN 110239374A
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- 230000008878 coupling Effects 0.000 claims description 6
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- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 6
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- 230000006698 induction Effects 0.000 description 4
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Classifications
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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
- B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- H02J5/005—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/60—Circuit arrangements or systems for wireless supply or distribution of electric power responsive to the presence of foreign objects, e.g. detection of living beings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
-
- H02J7/025—
-
- 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
-
- 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
-
- 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
-
- 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
- Y02T90/14—Plug-in electric vehicles
Abstract
The present invention provides the unmanned plane wireless charging devices and method of a kind of adaptive location, including the first controller, unmanned plane detection unit and the wireless charging transmitting unit being arranged on wireless charging platform cabinet, it include transmitting coil in the wireless charging transmitting unit, the unmanned plane detection unit and the wireless charging transmitting unit are separately connected first controller；The second controller, wireless charging receiving unit and current sensor of the bottom end of unmanned aerial vehicle body are set, it include receiving coil in the wireless charging receiving unit, the wireless charging receiving unit and the current sensor are separately connected the second controller, the current sensor is used to acquire the size of current that the receiving coil generates, and the second controller is used to drop to best landing place according to the collected current control unmanned plane of the current sensor.The present invention has the advantages that device is simple, at low cost, stability is good, landing accuracy is high.
Description
Technical field
The invention belongs to unmanned plane fields, more particularly, to a kind of unmanned plane wireless charging device of adaptive location and side
Method.
Background technique
Existing unmanned plane cruising ability is poor, can not carry big battery, predetermined in unmanned plane using wireless charging technology
Wireless charging device is arranged on working path can extend the activity duration of unmanned plane.Existing wireless charging device needs unmanned plane list
Solely carrying positioning device (such as communicator or camera) can be carried out landing just to charge to unmanned plane.
Summary of the invention
In view of this, the present invention is directed to propose the unmanned plane wireless charging device and method of a kind of adaptive location, only need
Carry current sensor, without carrying other sensors, using the intensity size of the electric current of wireless charging as positioning datum into
Row landing has the advantages that device is simple, at low cost, stability is good, landing accuracy is high.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of unmanned plane wireless charging device of adaptive location, comprising:
The first controller, unmanned plane detection unit and wireless charging transmitting list on wireless charging platform cabinet are set
Member, the interior wireless charging transmitting unit includes horizontally disposed electromagnetic transmitting coil, the unmanned plane detection unit and institute
It states wireless charging transmitting unit and is separately connected first controller；
The second controller, wireless charging receiving unit and current sensor of the bottom end of unmanned aerial vehicle body, institute are set
State includes horizontally disposed electromagnetic receiving coil, the wireless charging receiving unit and the electricity in wireless charging receiving unit
Flow sensor is separately connected the second controller, and the current sensor is used to acquire what the electromagnetic receiving coil generated
Size of current, the second controller are used to be dropped to according to the collected size of current control unmanned plane of the current sensor
Best landing place.
Further, the bottom end of unmanned aerial vehicle body is provided with cover, and the cover is truncated cone-shaped, the second controller,
The wireless charging receiving unit and the current sensor are all disposed within inside the cover.
Further, it is provided with the boss to match with the size of the cover on the wireless charging platform cabinet,
After unmanned plane landing, the cover covers the boss, and the wireless charging transmitting unit is arranged in the boss.
Further, the marginal position of the upper surface of the boss is arc-shaped.
Further, the unmanned plane detection unit is ultrasonic sensor.
Further, the ultrasonic sensor is provided with multiple, is evenly distributed on wireless charging platform cabinet.
A kind of unmanned plane wireless charging method of the adaptive location using above-mentioned apparatus, includes the following steps:
Step 1: when the unmanned plane detection unit detects that unmanned plane flies to wireless charging platform cabinet overhead, described
One controller opens wireless charging transmitting unit, and the electromagnetic transmitting coil starts to emit electromagnetic wave；
Step 2: the electromagnetic receiving coil receives electromagnetic wave signal, and the current sensor acquires the electricity in real time
The size of current that magnetic wave receiving coil generates, the second controller control unmanned plane move and find best landing place.
Further, the step 1 includes: that multiple ultrasonic sensors all detect that unmanned plane flies to wireless charging
When platform cabinet overhead, first controller opens wireless charging transmitting unit.
Further, the step 2 includes:
Step 201: by the current sensor, collected current value is denoted as I for the first time1, the second controller control nothing
Man-machine with the electric current is I1Point P be starting point, with r=80 (I0-I1) cm be radius, with circular flight, clockwise and anticlockwise
Each flight is primary, forms " 8 " font, wherein I0For artificially the electromagnetic transmitting coil and the electromagnetic receiving coil are put
Set the size of current at the electromagnetic receiving coil end measured in optimal Coupling point；
Step 202: the maximum current I in record flight courseM, using point P as starting point, with r=80 (I0-IM) cm be radius,
Continue " 8 " font movement as depicted at step 201；
Step 203: repeating step 202, update the maximum current IMWith radius r, until IM/I0When >=0.98, it is considered as and looks for
To best landing place, second controller starts control unmanned plane and slowly lands.
Compared with the existing technology, a kind of unmanned plane wireless charging device of adaptive location of the present invention and method tool
There is following advantage:
(1) device of the present invention finds Best Coupling point, only uses current sense by real-time detection size of current
Device avoids simplifying whole device using other sensors, small using resource, at low cost.
(2) 8 " font trajectory algorithms are used in method of the present invention, change figure of eight rail by comparing size of current
The moving radius of mark can quickly find Best Coupling point in space, and accuracy is high, can effectively improve charge efficiency.
(3) boss that the present invention is provided with the cover of truncated cone-shaped and matches with cover, and the edge of the upper surface of boss
Position is arc-shaped, so set, wireless receiving transmitting unit and wireless platform transmitting unit is enable to be accurately aimed at, is improved
The stability of charge efficiency and device, in addition, cover also can when occurring deviateing due to calculating the lesser landing that error generates
It slides along the radiused edges of boss to the position of alignment.
(4) present invention is provided with multiple ultrasonic sensors, avoids because of erroneous detection caused by being provided with a ultrasonic sensor
The case where survey, multiple ultrasonic sensors just start wireless charging transmitting unit when all detecting object.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is apparatus structure schematic diagram described in the embodiment of the present invention；
Fig. 2 is method flow diagram described in the embodiment of the present invention；
Fig. 3 is electromagnetic transmitting coil structure chart described in the embodiment of the present invention；
Fig. 4 is magnetic induction distribution map in matlab described in the embodiment of the present invention.
Description of symbols:
1- second controller；2- unmanned plane detection unit；3- wireless charging transmitting unit；4- wireless charging receiving unit；
5- unmanned aerial vehicle body；6- cover；7- wireless charging platform cabinet；8- boss.
Specific embodiment
By emulation it is found that electromagnetic transmitting coil and electromagnetic receiving coil are being placed in parallel and upright projection phase mutual respect
The characteristics of in the case where conjunction, coupling effect is best, i.e. charge efficiency highest, is embodied in wireless charging receiving unit is that electromagnetic wave connects
Electric current is maximum in take-up circle.The present invention utilizes such characteristic, passes through size of current in detection electromagnetic receiving coil, real-time resolving
Most close coupling point in space out, i.e. wireless charging platform upright projection position, and landed on the basis of this position.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the present invention proposes a kind of unmanned plane wireless charging device of adaptive location, comprising: be arranged in nothing
The first controller (being not drawn into figure), unmanned plane detection unit 2 and wireless charging transmitting unit on line charging platform cabinet 7
3, unmanned plane detection unit 2 and wireless charging transmitting unit 3 are separately connected first controller, specifically, unmanned machine testing
Unit 2 is ultrasonic sensor, and the ultrasonic sensor is provided with multiple, is evenly distributed on wireless charging platform cabinet 7,
Such as Fig. 1,4 are provided in the present embodiment；
It further include second controller 1, wireless charging receiving unit 4 and the electric current biography that the bottom end of unmanned aerial vehicle body is set
Sensor, the current sensor and wireless charging receiving unit 4 integrate, and wireless charging receiving unit 4 is set including level
The electromagnetic receiving coil set, wireless charging receiving unit 4 and the current sensor are separately connected second controller 1, described
Current sensor is used to acquire the size of current that the electromagnetic receiving coil generates, and second controller 1 is used for according to the electricity
The collected size of current of flow sensor determines the motion path of unmanned plane, specifically, second controller 1 uses arm
Cortex-m4 kernel.
The bottom end of unmanned aerial vehicle body 5 is provided with cover 6, and cover 6 is truncated cone-shaped, and second controller 1, wireless charging receive single
Member 4 and the current sensor are all disposed within the inside of cover 6.
7 upper surface of wireless charging platform cabinet is provided with the boss 8 to match with 6 size of cover, after unmanned plane landing, cover
Body 6 covers boss 8, and wireless charging transmitting unit 3 is provided in boss 8, includes horizontally disposed in wireless charging transmitting unit 3
Electromagnetic transmitting coil.
The size of cover 6 and the size of boss 8 match, and the marginal position of the upper surface of boss 8 be it is arc-shaped, make nothing
Line receives transmitting unit and the alignment of wireless platform transmitting unit and close, the stability of raising charge efficiency and device, in addition,
When occur due to calculate error generate lesser landing deviate when, cover 6 can also be slid along the radiused edges of boss 8 to
The position of alignment.
As shown in Fig. 2, the present invention also proposes a kind of unmanned plane wireless charging of adaptive location using above-mentioned device
Method includes the following steps:
Step 1: when the unmanned plane detection unit detects that unmanned plane flies to wireless charging platform cabinet overhead, described
One controller opens wireless charging transmitting unit, and the electromagnetic transmitting coil starts to emit electromagnetic wave；
Step 2: the electromagnetic receiving coil receives electromagnetic wave signal, and the current sensor acquires the electricity in real time
The size of current that magnetic wave receiving coil generates, the second controller control unmanned plane move and find best landing place.
The step also 1 includes: that multiple ultrasonic sensors all detect that unmanned plane flies to wireless charging platform container
When body overhead, first controller opens wireless charging transmitting unit, avoids causing misjudgment due to blocking because of birds etc..
The step 2 includes:
Step 201: by the current sensor, collected current value is denoted as I for the first time1, the second controller control nothing
Man-machine with the electric current is I1Point P be starting point, with r=80 (I0-I1) cm be radius, with circular flight, clockwise and anticlockwise
Each flight is primary, forms " 8 " font, wherein I0For artificially the electromagnetic transmitting coil and the electromagnetic receiving coil are put
Set the size of current at the electromagnetic receiving coil end measured in optimal Coupling point；
Step 202: the maximum current I in record flight courseM, using point P as starting point, with r=80 (I0-IM) cm be radius,
Continue " 8 " font movement as depicted at step 201；
Step 203: repeating step 202, update the maximum current IMWith radius r, until IM/I0When >=0.98, it is considered as and looks for
To best landing place, second controller starts control unmanned plane and slowly lands.
Radius formula r=80 (I0-I1) cm derivation process it is as follows: electromagnetic transmitting coil shape can be approximately plane spiral shell
Type coil is revolved, as shown in figure 3, snail type coil maximum outside diameter is 8 π cm, turn-to-turn is away from for 2 π cm, the number of turns 4, polar coordinates side
Journey are as follows: ρ=α θ takes α=0.01, rotation angle θ: 0 → 8 π.Polar equation is switched into rectangular equation are as follows:
It is solved using than Sa farr's law difficult to understand, θ is divided into N parts (taking N=1000), every portion Δ θn=θn+1-θn
=d θ；A bit of dl=(0, dy on helix can be obtained1,dzl),dyl=yn+1-yn=0.01 (θn+1cos(θn+1)-θncos
(θn)),dzl=zn+1-zn=0.01 (θn+1sin(θn+1)-θnsin(θn)), so, it is any a bit of in the production of xoy plane any point
Raw magnetic induction intensity are as follows:
Wherein:
Dl × r=(dyl×rz-dzl×ry)i+dzl×rxj-dy1×rxk
rx=x (i) ry=y (j)-yi rz=-zl
Obtain the component of magnetic field B are as follows:
Then Magnetic Induction Density Distribution formula are as follows:
According to this magnetic induction distribution, using surf (x, y, B) function plotting as shown in figure 4, in coil in matlab
Heart point position magnetic field strength is maximum, and unmanned plane can sense that the range of coil is Radius circle identical with coil radius
Domain.Optimally, maximum current is preferably only just found by primary movement in the figure of eight track that unmanned plane is moved
Position.Therefore select motion profile of the drawn radius of circle for coil radius half when as unmanned plane figure of eight equation of motion,
As r=80 (I0-I1)cm。
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of unmanned plane wireless charging device of adaptive location, it is characterised in that: include:
The first controller, unmanned plane detection unit and wireless charging transmitting unit on wireless charging platform cabinet are set,
It include horizontally disposed electromagnetic transmitting coil, the unmanned plane detection unit and the nothing in the wireless charging transmitting unit
Line charge electricity transmitting unit is separately connected first controller；
The second controller, wireless charging receiving unit and current sensor of the bottom end of unmanned aerial vehicle body, the nothing are set
It include horizontally disposed electromagnetic receiving coil in line charge electricity receiving unit, the wireless charging receiving unit and the electric current pass
Sensor is separately connected the second controller, and the current sensor is used to acquire the electric current that the electromagnetic receiving coil generates
Size, the second controller are used to be dropped to most preferably according to the collected size of current control unmanned plane of the current sensor
Landing place.
2. a kind of unmanned plane wireless charging device of adaptive location according to claim 1, it is characterised in that: unmanned plane
The bottom end of fuselage is provided with cover, and the cover is truncated cone-shaped, the second controller, the wireless charging receiving unit and
The current sensor is all disposed within inside the cover.
3. a kind of unmanned plane wireless charging device of adaptive location according to claim 2, it is characterised in that: the nothing
The boss to match with the size of the cover is provided on line charging platform cabinet, after unmanned plane landing, the cover is covered
The boss, the wireless charging transmitting unit are arranged in the boss.
4. a kind of unmanned plane wireless charging device of adaptive location according to claim 3, it is characterised in that: described convex
The marginal position of the upper surface of platform is arc-shaped.
5. a kind of unmanned plane wireless charging device of adaptive location according to claim 1, it is characterised in that: the nothing
Man-machine detection unit is ultrasonic sensor.
6. a kind of unmanned plane wireless charging device of adaptive location according to claim 5, it is characterised in that: described super
Sonic sensor is provided with multiple, is evenly distributed on wireless charging platform cabinet.
7. a kind of unmanned plane wireless charging method of the adaptive location using device as claimed in any one of claims 1 to 6,
It is characterized by comprising following steps:
Step 1: when the unmanned plane detection unit detects that unmanned plane flies to wireless charging platform cabinet overhead, first control
Device processed opens wireless charging transmitting unit, and the electromagnetic transmitting coil starts to emit electromagnetic wave；
Step 2: the electromagnetic receiving coil receives electromagnetic wave signal, and the current sensor acquires the electromagnetic wave in real time
The size of current that receiving coil generates, the second controller control unmanned plane move and find best landing place.
8. a kind of unmanned plane wireless charging method of adaptive location according to claim 7, it is characterised in that: the step
Rapid 1 when including: that multiple ultrasonic sensors all detect that unmanned plane flies to wireless charging platform cabinet overhead, and described first
Controller opens wireless charging transmitting unit.
9. a kind of unmanned plane wireless charging method of adaptive location according to claim 7, it is characterised in that: the step
Rapid 2 include:
Step 201: by the current sensor, collected current value is denoted as I for the first time1, the second controller control unmanned plane
It is I with the electric current1Point P be starting point, with r=80 (I0-I1) cm is radius, it is each clockwise and anticlockwise to fly with circular flight
Row is primary, forms " 8 " font, wherein I0For artificially the electromagnetic transmitting coil and the electromagnetic receiving coil are placed on
The size of current at the electromagnetic receiving coil end measured when optimal Coupling point；
Step 202: the maximum current I in record flight courseM, using point P as starting point, with r=80 (I0-IM) cm be radius, continue
" 8 " font movement as depicted at step 201；
Step 203: repeating step 202, update the maximum current IMWith radius r, until IM/I0When >=0.98, it is considered as and finds most
Good landing place, second controller start control unmanned plane and slowly land.
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