CN110239374B - Unmanned aerial vehicle wireless charging device and method capable of achieving self-adaptive positioning - Google Patents
Unmanned aerial vehicle wireless charging device and method capable of achieving self-adaptive positioning Download PDFInfo
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- CN110239374B CN110239374B CN201910541610.5A CN201910541610A CN110239374B CN 110239374 B CN110239374 B CN 110239374B CN 201910541610 A CN201910541610 A CN 201910541610A CN 110239374 B CN110239374 B CN 110239374B
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- 238000004364 calculation method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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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
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- H02J5/005—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- 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
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a self-adaptive positioning unmanned aerial vehicle wireless charging device and a self-adaptive positioning unmanned aerial vehicle wireless charging method, wherein the self-adaptive positioning unmanned aerial vehicle wireless charging device comprises a first controller, an unmanned aerial vehicle detection unit and a wireless charging transmitting unit, wherein the wireless charging transmitting unit comprises a transmitting coil, and the unmanned aerial vehicle detection unit and the wireless charging transmitting unit are respectively connected with the first controller; the second controller, wireless receiving unit and the current sensor of charging of setting in the bottom of unmanned aerial vehicle fuselage, including receiving coil in the wireless receiving unit that charges, wireless receiving unit that charges with current sensor connects respectively the second controller, current sensor is used for gathering the electric current size that receiving coil produced, the second controller is used for according to the electric current control unmanned aerial vehicle that current sensor gathered falls to the best position of falling. The invention has the advantages of simple device, low cost, good stability and high landing accuracy.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a self-adaptive positioning unmanned aerial vehicle wireless charging device and method.
Background
The existing unmanned aerial vehicle has poor endurance capability, cannot carry an oversized battery, and can prolong the operation time of the unmanned aerial vehicle by using a wireless charging technology and setting a wireless charging device on a preset operation path of the unmanned aerial vehicle. The existing wireless charging device needs that the unmanned aerial vehicle independently carries a positioning device (such as a communicator or a camera and the like) to drop, so that the unmanned aerial vehicle is charged.
Disclosure of Invention
In view of the above, the invention aims to provide a self-adaptive positioning unmanned aerial vehicle wireless charging device and a self-adaptive positioning unmanned aerial vehicle wireless charging method, which only need to carry a current sensor, do not need to carry other sensors, utilize the intensity of wireless charging current as a positioning reference to carry out landing, and have the advantages of simple device, low cost, good stability and high landing accuracy.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
an adaptively positioned unmanned aerial vehicle wireless charging device, comprising:
the wireless charging platform comprises a first controller, an unmanned aerial vehicle detection unit and a wireless charging emission unit, wherein the first controller, the unmanned aerial vehicle detection unit and the wireless charging emission unit are arranged on a wireless charging platform box body, the wireless charging emission unit comprises an electromagnetic wave emission coil which is horizontally arranged, and the unmanned aerial vehicle detection unit and the wireless charging emission unit are respectively connected with the first controller;
the second controller, wireless receiving unit and the current sensor of charging of setting in the bottom of unmanned aerial vehicle fuselage, including the electromagnetic wave receiving coil that the level set up in the wireless receiving unit that charges, wireless receiving unit with current sensor connects respectively the second controller, current sensor is used for gathering the electric current size that electromagnetic wave receiving coil produced, the second controller is used for according to the electric current size control unmanned aerial vehicle that current sensor gathered falls to the best landing position.
Further, the bottom of unmanned aerial vehicle fuselage is provided with the cover body, the cover body is round platform shape, the second controller wireless charging receiving element and current sensor all set up the cover body is inside.
Still further, be provided with on the wireless charging platform box with cover body's size assorted boss, unmanned aerial vehicle falls behind, cover body covers the boss, wireless charging transmitting unit sets up in the boss.
Further, the edge position of the upper surface of the boss is arc-shaped.
Further, the unmanned aerial vehicle detecting unit is an ultrasonic sensor.
Furthermore, the ultrasonic sensor is provided with a plurality of ultrasonic sensors which are uniformly distributed on the wireless charging platform box body.
An unmanned aerial vehicle wireless charging method adopting the device for self-adaptive positioning comprises the following steps:
step 1: when the unmanned aerial vehicle detection unit detects that the unmanned aerial vehicle flies to the upper space of the wireless charging platform box body, the first controller starts the wireless charging transmitting unit, and the electromagnetic wave transmitting coil starts to transmit electromagnetic waves;
step 2: the electromagnetic wave receiving coil receives electromagnetic wave signals, the current sensor collects the current generated by the electromagnetic wave receiving coil in real time, and the second controller controls the unmanned aerial vehicle to move and find the optimal landing position.
Further, the step 1 includes: and when the ultrasonic sensors detect that the unmanned aerial vehicle flies to the upper space of the wireless charging platform box body, the first controller starts the wireless charging transmitting unit.
Further, the step 2 includes:
step 201: the current value acquired by the current sensor for the first time is recorded as I 1 The second controller controls the unmanned aerial vehicle to take the current as I 1 Starting at point P of r=80 (I 0 -I 1 )/I 0 cm is the radius, and the circular flight is carried out, and the clockwise and anticlockwise flight is carried out once respectively, so as to form an 8 shape, wherein I 0 The current of the electromagnetic wave receiving coil end is measured when the electromagnetic wave transmitting coil and the electromagnetic wave receiving coil are artificially placed at an optimal coupling point;
step 202: recording maximum current I during flight M Starting from point P, starting from r=80 (I 0 -I M )/I 0 cm is the radius, and the 8-shaped movement is continued as described in the step 201;
step 203: repeating step 202, updating the maximum current I M And radius r, up to I M /I 0 And when the speed is more than or equal to 0.98, the optimal landing position is found, and the second controller starts to control the unmanned aerial vehicle to slowly land.
Compared with the prior art, the self-adaptive positioning unmanned aerial vehicle wireless charging device and method have the following advantages:
(1) The device provided by the invention searches the optimal coupling point by detecting the current in real time, only uses the current sensor, avoids using other sensors, simplifies the whole device, has small use resources and low cost;
(2) According to the method, an 8-shaped track algorithm is used, the movement radius of the 8-shaped track is changed by comparing the current, so that the optimal coupling point in the space can be quickly found, the accuracy is high, and the charging efficiency can be effectively improved;
(3) The invention is provided with the round table-shaped cover body and the boss matched with the cover body, and the edge position of the upper surface of the boss is arc-shaped, so that the wireless receiving and transmitting unit and the wireless platform transmitting unit can be accurately aligned, the charging efficiency and the stability of the device are improved, and in addition, when small falling deviation caused by calculation errors occurs, the cover body can slide to the aligned position along the arc-shaped edge of the boss;
(4) The invention is provided with a plurality of ultrasonic sensors, so that the situation of false detection caused by the arrangement of one ultrasonic sensor is avoided, and the wireless charging transmitting unit is started only when the plurality of ultrasonic sensors detect objects.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of a device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method according to an embodiment of the invention;
fig. 3 is a diagram of an electromagnetic wave transmitting coil according to an embodiment of the present invention;
FIG. 4 is a magnetic induction profile in matlab according to an embodiment of the present invention.
Reference numerals illustrate:
1-a second controller; 2-an unmanned aerial vehicle detection unit; 3-a wireless charging transmitting unit; 4-a wireless charging receiving unit; 5-unmanned plane body; 6, a cover body; 7-a wireless charging platform box body; 8-boss.
Detailed Description
The simulation shows that under the condition that the electromagnetic wave transmitting coil and the electromagnetic wave receiving coil are arranged in parallel and the vertical projections are overlapped with each other, the coupling effect is best, namely the charging efficiency is highest, and the characteristics of the wireless charging receiving unit are that the current in the electromagnetic wave receiving coil is the largest. The invention utilizes the characteristics, and calculates the strongest coupling point in space, namely the vertical projection position of the wireless charging platform in real time by detecting the current in the electromagnetic wave receiving coil, and takes the position as a reference to carry out landing.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1, the present invention proposes an adaptively positioned wireless charging device for an unmanned aerial vehicle, including: the wireless charging system comprises a first controller (not shown in the figure) arranged on a wireless charging platform box body 7, an unmanned aerial vehicle detection unit 2 and a wireless charging emission unit 3, wherein the unmanned aerial vehicle detection unit 2 and the wireless charging emission unit 3 are respectively connected with the first controller, and particularly, the unmanned aerial vehicle detection unit 2 is an ultrasonic sensor which is provided with a plurality of ultrasonic sensors and is uniformly distributed on the wireless charging platform box body 7, as shown in fig. 1, 4 unmanned aerial vehicle detection units are arranged in the embodiment;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body, and is characterized by further comprising a second controller 1 arranged at the bottom end of the unmanned aerial vehicle body, a wireless charging receiving unit 4 and a current sensor, wherein the current sensor and the wireless charging receiving unit 4 are integrated together, the wireless charging receiving unit 4 comprises an electromagnetic wave receiving coil which is horizontally arranged, the wireless charging receiving unit 4 and the current sensor are respectively connected with the second controller 1, the current sensor is used for collecting the current generated by the electromagnetic wave receiving coil, the second controller 1 is used for determining the movement path of the unmanned aerial vehicle according to the current collected by the current sensor, and particularly, the second controller 1 adopts an arm core-m 4 kernel.
The bottom of unmanned aerial vehicle fuselage 5 is provided with the cover body 6, and the cover body 6 is round platform shape, and second controller 1, wireless receiving element 4 that charges and current sensor all set up in the inside of cover body 6.
The wireless platform box that charges 7 upper surface be provided with cover 6 size assorted boss 8, unmanned aerial vehicle falls behind, cover 6 cover boss 8, be provided with wireless emission unit 3 that charges in the boss 8, electromagnetic wave transmitting coil including the level setting in the emission unit 3 that charges.
The size of the cover body 6 is matched with the size of the boss 8, and the edge position of the upper surface of the boss 8 is arc-shaped, so that the wireless receiving and transmitting unit and the wireless platform transmitting unit are aligned and close to each other, the charging efficiency and the stability of the device are improved, and in addition, when small falling deviation caused by calculation errors occurs, the cover body 6 can slide to an aligned position along the arc-shaped edge of the boss 8.
As shown in fig. 2, the invention further provides a wireless charging method of an unmanned aerial vehicle with the self-adaptive positioning function by using the device, which comprises the following steps:
step 1: when the unmanned aerial vehicle detection unit detects that the unmanned aerial vehicle flies to the upper space of the wireless charging platform box body, the first controller starts the wireless charging transmitting unit, and the electromagnetic wave transmitting coil starts to transmit electromagnetic waves;
step 2: the electromagnetic wave receiving coil receives electromagnetic wave signals, the current sensor collects the current generated by the electromagnetic wave receiving coil in real time, and the second controller controls the unmanned aerial vehicle to move and find the optimal landing position.
The step 1 further comprises: when a plurality of ultrasonic sensor all detects unmanned aerial vehicle and flies to the wireless platform box that charges the sky, wireless transmission unit that charges is opened to first controller, avoids causing erroneous judgement because of sheltering from of birds etc..
The step 2 comprises the following steps:
step 201: the current value acquired by the current sensor for the first time is recorded as I 1 The second controller controls the unmanned aerial vehicle to take the current as I 1 Starting at point P of r=80 (I 0 -I 1 )/I 0 cm is the radius, and the circular flight is carried out, and the clockwise and anticlockwise flight is carried out once respectively, so as to form an 8 shape, wherein I 0 The current of the electromagnetic wave receiving coil end is measured when the electromagnetic wave transmitting coil and the electromagnetic wave receiving coil are artificially placed at an optimal coupling point;
step 202: recording maximum current I during flight M Starting from point P, starting from r=80 (I 0 -I M )/I 0 cm is the radius, and the 8-shaped movement is continued as described in the step 201;
step 203: repeating step 202, updating the maximum current I M And radius r, up to I M /I 0 And when the speed is more than or equal to 0.98, the optimal landing position is found, and the second controller starts to control the unmanned aerial vehicle to slowly land.
Radius formula r=80 (I 0 -I 1 )/I 0 The derivation of cm is as follows: the electromagnetic wave transmitting coil can be approximately a planar spiral coil, as shown in fig. 3, the maximum outer diameter of the planar spiral coil is 8 pi cm, the turn interval is 2 pi cm, the number of turns is 4, the polar coordinate equation is ρ=αθ, α=0.01 is taken, and the rotation angle θ is 0→8pi. The polar coordinate equation is converted into a rectangular coordinate equation:
solving using the law of bissavory divides θ equally into N parts (taking n=1000), each part Δθ n ＝θ n+1 -θ n =dθ; a small section dl= (0, dy) of the spiral line can be obtained 1 ,dz l ),dy l ＝y n+1 -y n ＝0.01(θ n+1 cos(θ n+1 )-θ n cos(θ n )),dz l ＝z n+1 -z n ＝0.01(θ n+1 sin(θ n+1 )-θ n sin(θ n ) So that the magnetic induction intensity generated by any small section at any point of the xoy plane is as follows:
wherein:
dl×r＝(dy l ×r z -dz I ×r y )i+dz l ×r x j-dy 1 ×r x k
r x ＝x(i) r y ＝y(j)-y i r z ＝-z l
the components of the resulting magnetic field B are:
the magnetic induction intensity distribution is:
according to the magnetic induction distribution type, surf (x, y, B) function drawing is applied in matlab, as shown in fig. 4, the magnetic field intensity at the central point of the coil is the largest, and the unmanned aerial vehicle can sense the range of the coil to be a circular area with the same radius as the radius of the coil. In the most ideal caseThe 8-shaped track of the unmanned plane is preferably used for finding the maximum current position after only one movement. Therefore, the motion trail of the drawn circle with radius of one half of the radius of the coil is selected as the 8-shaped motion formula of the unmanned plane, namely r=80 (I) 0 -I 1 )/I 0 cm。
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (5)
1. An adaptively positioned unmanned aerial vehicle wireless charging method using an adaptively positioned unmanned aerial vehicle wireless charging device, the method comprising the steps of: the wireless charging platform comprises a first controller, an unmanned aerial vehicle detection unit and a wireless charging emission unit, wherein the first controller, the unmanned aerial vehicle detection unit and the wireless charging emission unit are arranged on a wireless charging platform box body, the wireless charging emission unit comprises an electromagnetic wave emission coil which is horizontally arranged, and the unmanned aerial vehicle detection unit and the wireless charging emission unit are respectively connected with the first controller;
the wireless charging receiving unit comprises a horizontally arranged electromagnetic wave receiving coil, the wireless charging receiving unit and the current sensor are respectively connected with the second controller, the current sensor is used for collecting the current generated by the electromagnetic wave receiving coil, and the second controller is used for controlling the unmanned aerial vehicle to drop to an optimal landing position according to the current collected by the current sensor;
the unmanned aerial vehicle detection unit is an ultrasonic sensor;
the ultrasonic sensors are arranged in a plurality and uniformly distributed on the wireless charging platform box body;
the unmanned aerial vehicle wireless charging method comprises the following steps:
step 1: when the unmanned aerial vehicle detection unit detects that the unmanned aerial vehicle flies to the upper space of the wireless charging platform box body, the first controller starts the wireless charging transmitting unit, and the electromagnetic wave transmitting coil starts to transmit electromagnetic waves;
step 2: the second controller controls the unmanned aerial vehicle to move and searches the optimal landing position;
the step 2 comprises the following steps:
step 201: the current value acquired by the current sensor for the first time is recorded as I 1 The second controller controls the unmanned aerial vehicle to take the current as I 1 Starting at point P of r=80 (I 0 -I 1 )/I 0 cm is the radius, and the circular flight is carried out, and the clockwise and anticlockwise flight is carried out once respectively, so as to form an 8 shape, wherein I 0 The electromagnetic wave transmitting coil is a plane spiral coil, the maximum outer diameter of the plane spiral coil is 8 pi cm, the turn interval is 2 pi cm, and the number of turns is 4;
step 202: recording maximum current I during flight M With current as maximum current I M Starting at point P of r=80 (I 0 -I M )/I 0 cm is the radius, and the 8-shaped movement is continued as described in the step 201; step 203: repeating step 202, updating the maximum current I M And radius r, up to I M /I 0 And when the speed is more than or equal to 0.98, the optimal landing position is found, and the second controller starts to control the unmanned aerial vehicle to slowly land.
2. The adaptively positioned unmanned aerial vehicle wireless charging method of claim 1, wherein: the bottom of unmanned aerial vehicle fuselage is provided with the cover body, the cover body is round platform shape, the second controller wireless charging receiving element and current sensor all set up the cover body is inside.
3. The adaptively positioned unmanned aerial vehicle wireless charging method of claim 2, wherein: be provided with on the wireless charging platform box with the size assorted boss of cover body, unmanned aerial vehicle falls behind, the cover body covers the boss, wireless charging transmitting unit sets up in the boss.
4. The adaptively positioned unmanned aerial vehicle wireless charging method of claim 3, wherein: the edge position of the upper surface of the boss is arc-shaped.
5. The adaptively positioned unmanned aerial vehicle wireless charging method of claim 1, wherein: the step 1 comprises the following steps: and when the ultrasonic sensors detect that the unmanned aerial vehicle flies to the upper space of the wireless charging platform box body, the first controller starts the wireless charging transmitting unit.
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| CN111009973B (en) * | 2019-12-09 | 2021-07-27 | 华中科技大学 | Resonance coil for resisting deviation in wireless power transmission |
| CN110865656B (en) * | 2020-01-16 | 2020-05-12 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle centering system based on mutual inductance detection and control method thereof |
| CN111342571A (en) * | 2020-03-12 | 2020-06-26 | 深圳赫兹创新技术有限公司 | Control method, device and system for wireless charging coil alignment |
| CN111987780B (en) * | 2020-08-31 | 2022-04-22 | 重庆大学 | Unmanned aerial vehicle electric field coupling mechanism and wireless charging system, platform and unmanned aerial vehicle |
| CN113246778A (en) * | 2021-05-24 | 2021-08-13 | 武汉理工大学 | Unmanned aerial vehicle wireless charging system and charging method |
| CN113276699A (en) * | 2021-05-26 | 2021-08-20 | 南瑞集团有限公司 | A buried magnetic coupling mechanism for electric automobile is wireless to be charged |
| CN113671995B (en) * | 2021-09-23 | 2023-08-22 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle landing precision adjusting method and system based on wireless charging coupling mechanism |
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| CN108973746A (en) * | 2018-08-06 | 2018-12-11 | 中国民航大学 | A kind of unmanned plane wireless charging system and its charge control method |
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