CN110654259B - Unmanned aerial vehicle charging system - Google Patents

Unmanned aerial vehicle charging system Download PDF

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Publication number
CN110654259B
CN110654259B CN201910846190.1A CN201910846190A CN110654259B CN 110654259 B CN110654259 B CN 110654259B CN 201910846190 A CN201910846190 A CN 201910846190A CN 110654259 B CN110654259 B CN 110654259B
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CN
China
Prior art keywords
trolley
unmanned aerial
aerial vehicle
screw rod
charging
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CN201910846190.1A
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Chinese (zh)
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CN110654259A (en
Inventor
叶树芬
苏成悦
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Guangdong University of Technology
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Guangdong University of Technology
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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
    • 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
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • 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
    • Y02T90/12—Electric charging stations
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses an unmanned aerial vehicle charging system, which comprises an unmanned aerial vehicle, a movable trolley, an auxiliary base station and an apron, wherein the unmanned aerial vehicle charging system comprises a charging system body, a charging system body and a charging system body; the unmanned aerial vehicle is provided with a charging interface; the movable trolley comprises a trolley main body, a camera module, a GPS module, a trolley communication module, a main controller, a manipulator and a vertical lifting mechanism; the vertical lifting mechanism comprises a trolley main body, a vertical lifting mechanism, a manipulator, a camera module, a GPS module, a trolley communication module and a main controller, wherein the vertical lifting mechanism is arranged at the front end of the trolley main body in the advancing direction, the manipulator is fixed with the vertical lifting mechanism in a sliding way through a fixing part, the camera module is arranged at the top of the vertical lifting mechanism, the GPS module, the trolley communication module and the main controller are all arranged on the trolley main body, and the main controller is respectively connected with the camera module, the GPS module and the trolley communication module; the auxiliary base station is provided with a base station communication module. The invention has the advantages of simple and quick process, high efficiency, high stability, manpower resource saving and the like.

Description

Unmanned aerial vehicle charging system
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle charging system.
Background
The times are advancing, unmanned aerial vehicle technology is constantly improving for unmanned aerial vehicle has entered people's daily life, and quantity is also increasing, for example can all see unmanned aerial vehicle's figure in dangerous rescue, light show, event live broadcast etc. field. Because unmanned aerial vehicle carries battery general duration to be 30 minutes, consequently unmanned aerial vehicle often needs to charge, in addition at large-scale activities such as light show, unmanned aerial vehicle quantity is huge, and manual connection charges is a costly and laborious thing.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the unmanned aerial vehicle charging system which has the advantages of simple and quick process, high efficiency, high stability and manpower resource saving.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
an unmanned aerial vehicle charging system comprises an unmanned aerial vehicle, a movable trolley, an auxiliary base station and an apron;
the unmanned aerial vehicle is provided with a charging interface;
The movable trolley comprises a trolley main body, a camera module, a GPS module, a trolley communication module, a main controller, a manipulator and a vertical lifting mechanism; the vertical lifting mechanism comprises a trolley main body, a vertical lifting mechanism, a manipulator, a camera module, a GPS module, a trolley communication module and a main controller, wherein the vertical lifting mechanism is arranged at the front end of the trolley main body in the advancing direction, the manipulator is fixed with the vertical lifting mechanism in a sliding way through a fixing part, the camera module is arranged at the top of the vertical lifting mechanism, the GPS module, the trolley communication module and the main controller are all arranged on the trolley main body, and the main controller is respectively connected with the camera module, the GPS module and the trolley communication module;
The auxiliary base station is provided with a base station communication module.
Further, the camera module comprises a camera and a camera holder; the camera holder is fixed at the top of the vertical lifting mechanism and bears the camera.
Further, the vertical lifting mechanism comprises a vertical lifting slide rail and a screw rod transmission mechanism, wherein the screw rod transmission mechanism is arranged at the rear side of the vertical lifting slide rail, and the extending direction of a screw rod in the screw rod transmission mechanism is consistent with the extending direction of the vertical lifting slide rail; the manipulator is fixed with the vertical lifting slide rail in a sliding way through the fixing part, the end connected with the fixing part is fixed with the screw rod transmission mechanism, and the screw rod transmission mechanism drives the manipulator to lift up and down along the vertical lifting slide rail.
Further, a charging module is arranged on the surface of the parking apron and comprises a magnetic charging plug and a charging base for bearing the magnetic charging plug;
The magnetic charging plug is a plug with two straight pins, the two straight pins are made of magnetic substances and have different lengths, and the long pin and the short pin respectively correspond to the positive pole and the negative pole of the power supply; the other parts of the magnetic charging plug except the two straight pin plugs are all non-magnetic substances;
The charging base is provided with an automatic wire winding machine;
The charging interface carried by the unmanned aerial vehicle is provided with a charging interface identifier, the charging interface is provided with a positive hole and a negative hole which respectively correspond to the positive electrode and the negative electrode of the battery, and electromagnets powered by the battery in the unmanned aerial vehicle are arranged in the positive hole and the negative hole;
The manipulator is a charged magnetic adsorption manipulator, and the main controller is used for controlling the on-off of a battery in the mobile trolley, so that the charged magnetic adsorption manipulator is electrified and magnetized or demagnetized.
Further, the auxiliary base station is also provided with a charging power supply for assisting the unmanned aerial vehicle and the mobile trolley in charging.
Further, the charging interface carried by the unmanned aerial vehicle is in a sphere shape with a charging interface identifier, and two parts opposite to the surface of the sphere are respectively provided with a positive electrode and a negative electrode which are connected with the unmanned aerial vehicle battery;
the manipulator is a two-finger flexible manipulator, and the inner sides of the two finger grips are respectively provided with an anode and a cathode;
When the mechanical arm clamps the charging interface carried by the unmanned aerial vehicle, the two positive electrodes and the two negative electrodes are communicated.
Further, the positive electrode and the negative electrode on the inner sides of the two finger grips of the manipulator are connected with a charging wire directly pulled out from a charging power supply in the auxiliary base station.
Further, the apron is provided with a ceiling.
Further, a power grid powered by an auxiliary base station charging power supply is paved on the ceiling, a vertical electric pole connected to the power grid for taking electricity is installed on the trolley body, and the positive pole and the negative pole on the inner sides of the two finger grips of the manipulator are communicated with the vertical electric pole.
Further, a longitudinal transmission guide rail and a transverse transmission guide rail are paved on the ceiling, and both the longitudinal transmission guide rail and the transverse transmission guide rail are composed of a screw rod transmission mechanism;
The screw rod transmission mechanism comprises a motor, a screw rod and a sliding block; one end of the screw rod is connected with an output shaft of the motor, and the sliding block moves back and forth along the screw rod;
Wherein, the two groups of screw rod transmission mechanisms are arranged in balance to form a longitudinal transmission guide rail;
The third group of screw rod transmission mechanisms are perpendicular to the longitudinal transmission guide rail, and one ends of motors and screws in the third group of screw rod transmission mechanisms, which are far away from the motors, are respectively fixed at bottoms of sliding blocks in the two groups of screw rod transmission mechanisms forming the longitudinal transmission guide rail to form a transverse transmission guide rail;
The trolley body is provided with a suspender, one end of the suspender is fixed with the trolley body, and the other end of the suspender is fixed with a sliding block in the transverse transmission guide rail; the movable trolley is fixedly suspended on a ceiling through a suspension rod;
The main controller in the movable trolley is respectively connected with motors in the three groups of screw rod transmission mechanisms to control the motors to work;
The positive electrode and the negative electrode on the inner sides of the two finger grips of the manipulator are connected with a charging wire pulled out from a charging power supply in the auxiliary base station, the charging wire is a spring spiral wire, and the spring spiral wire firstly winds a ceiling, then passes through a suspender and finally reaches the manipulator.
Compared with the prior art, the scheme has the following principle and advantages:
1. the portable dolly plays the role of wiring, for unmanned aerial vehicle automatic connection power supply sufficiency to avoid artifical wiring and with the help of charging indirect storage instrument, be favorable to realizing unmanned aerial vehicle unmanned charge unmanned management, improve the stability of charging.
2. The portable dolly only plays the role of wiring, and not charging source, and a portable dolly can service many unmanned aerial vehicles to improve unmanned aerial vehicle charging's efficiency.
3. When the unmanned aerial vehicle is charged, a magnetic charging plug with two straight pins is adopted, the two straight pins are made of magnetic substances and have different lengths, and the long pin and the short pin respectively correspond to the positive pole and the negative pole of a power supply, so that even if one pin is connected with the other pin in a reverse way, the other pin is not connected with the other pin; in addition, other parts of the magnetic charging plug except for the two straight pin plugs are all non-magnetic substances, so that the magnetic charging plug is favorable for accurate adsorption.
4. The charging base for bearing the magnetic charging plug is provided with an automatic wire winding machine, and when the mobile trolley performs a charging task and takes down the magnetic charging plug, the automatic wire winding machine can retract and charge the power wire to prevent the power wire from winding.
5. The unmanned aerial vehicle charging wire which is originally led out from the auxiliary base station and connected to the manipulator is changed into a ground network type power supply mode, an electrified power grid is paved on the ceiling of the parking apron, and the mobile trolley takes electricity from the ceiling through the vertical electric pole, so that the charging wires can not cross when the unmanned aerial vehicle is charged, and the mobile trolley can move quickly conveniently.
6. The manipulator adopts two flexible manipulators of grabbing, because unmanned aerial vehicle adopts spheroid shape interface that charges, and the contact surface of electrode is the curved surface, and two flexible manipulators of grabbing can be complete laminating sphere for the electrode of power and unmanned aerial vehicle can better contact, improves charge quality.
7. The camera is installed on the camera cloud platform, and the camera cloud platform is fixed at vertical lift mechanism's top, has guaranteed that the location vision scope of portable dolly is big enough for the speed of discernment unmanned aerial vehicle accurate position, the cloud platform can pitch up and down the camera, has avoided the barrier to block the sight.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the services required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the figures in the following description are only some embodiments of the present invention, and that other figures can be obtained according to these figures without inventive effort to a person skilled in the art.
Fig. 1 is a schematic structural diagram of a charging system for an unmanned aerial vehicle according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a mobile cart in an unmanned aerial vehicle charging system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a charging system for an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a charging system for a unmanned aerial vehicle according to a third embodiment of the present invention (omitting an auxiliary base station);
Fig. 5 is a schematic structural diagram of a charging system for a unmanned aerial vehicle according to a fourth embodiment of the present invention (the ground of the auxiliary base station and the tarmac is omitted).
Reference numerals in the drawings:
1-unmanned aerial vehicle, 2-travelling car, 3-auxiliary base station, 4-apron, 2-1-dolly main part, 2-2-camera module, 2-3-manipulator, 2-4 vertical lift mechanism, 2-4-1-vertical lift slide rail, 2-4-2-lead screw drive mechanism, 5-charging module, 5-1-magnetism charging plug, 5-2-charging base, 6-fixed part.
Detailed Description
The invention is further illustrated with reference to four specific examples:
embodiment one:
As shown in fig. 1-2, the unmanned aerial vehicle charging system according to the present embodiment includes an unmanned aerial vehicle 1, a mobile trolley 2, an auxiliary base station 3, and an apron 4;
the unmanned aerial vehicle 1 is provided with a charging interface;
the movable trolley 2 comprises a trolley main body 2-1, a camera module 2-2, a GPS module, a trolley communication module, a main controller, a manipulator 2-3 and a vertical lifting mechanism 2-4; the vertical lifting mechanism 2-4 is erected at the front end of the trolley main body 2-1 in the advancing direction, the manipulator 2-3 is fixed with the vertical lifting mechanism 2-4 in a sliding way through the fixing part 6, the camera module 2-2 is arranged at the top of the vertical lifting mechanism 2-4, the GPS module, the trolley communication module and the main controller are all arranged on the trolley main body 2-1, and the main controller is respectively connected with the camera module 2-2, the GPS module and the trolley communication module;
The auxiliary base station 3 is provided with a base station communication module;
specifically, the camera module 2-2 includes a camera and a camera pan-tilt; the camera holder is fixed at the top of the vertical lifting mechanism 2-4 and bears the camera;
The vertical lifting mechanism 2-4 comprises a vertical lifting slide rail 2-4-1 and a screw rod transmission mechanism 2-4-2, the screw rod transmission mechanism 2-4-2 is arranged at the rear side of the vertical lifting slide rail 2-4-1, and the extending direction of a screw rod in the screw rod transmission mechanism 2-4-2 is consistent with the extending direction of the vertical lifting slide rail 2-4-1; the manipulator 2-3 is fixed with the vertical lifting slide rail 2-4-1 in a sliding way through the fixing part 6, the end connected with the fixing part 6 is fixed with the screw transmission mechanism 2-4-2, and the screw transmission mechanism 2-4-2 drives the manipulator to lift up and down along the vertical lifting slide rail 2-4-1.
The surface of the parking apron 4 is provided with a charging module 5, and the charging module 5 comprises a magnetic charging plug 5-1 and a charging base 5-2 for bearing the magnetic charging plug 5-1;
The magnetic charging plug 5-1 is a plug with two straight pins, the two straight pins are made of magnetic substances and have different lengths, and the long pin and the short pin respectively correspond to the positive pole and the negative pole of the power supply; the other parts of the magnetic charging plug 5-1 except the two straight pin plugs are all non-magnetic substances;
the charging base 5-2 is provided with an automatic wire winding machine;
the charging interface carried by the unmanned aerial vehicle 1 is provided with a charging interface identifier, the charging interface is provided with a positive hole and a negative hole which respectively correspond to the positive electrode and the negative electrode of the battery, and electromagnets powered by the battery in the unmanned aerial vehicle 1 are arranged in the positive hole and the negative hole;
The manipulator 2-3 is a charged magnetic adsorption manipulator, and the main controller controls the on-off of the battery in the movable trolley 2, so that the electrification magnetization or demagnetization of the charged magnetic adsorption manipulator is realized.
The movable trolley (2) is provided with Mecanum wheels, and omnidirectional movement is realized through the Mecanum wheels.
The working principle of the first embodiment is as follows:
When the unmanned aerial vehicle 1 stops on the parking apron 4 after executing the task, the auxiliary base station 3 receives the parking information of the unmanned aerial vehicle 1 through the base station communication module, obtains the landing position information of the unmanned aerial vehicle 1, then sends out the mobile trolley 2 from the auxiliary base station 3, and the mobile trolley 2 calculates a travel path through the main controller under the condition that the position information of the unmanned aerial vehicle 1 transmitted by the auxiliary base station 3 is known and the coordinates of the mobile trolley are positioned by the GPS module, and reaches the vicinity of the landing position of the unmanned aerial vehicle 1 according to the travel path.
After the mobile trolley 2 walks to the position near the parking position of the unmanned aerial vehicle 1, a charging interface identifier (the unmanned aerial vehicle 1 can be parked near the charging module 5) on the magnetic charging plug 5-1 of the charging module 5 near the unmanned aerial vehicle 1 is searched through a camera, according to image information collected by the camera, the main controller controls the position of the mobile trolley 2, so that the position of a X, Y shaft of the charging magnetic adsorption manipulator is adjusted, the Z-shaft height of the charging magnetic adsorption manipulator is adjusted through the vertical lifting mechanism 2-4, after alignment, the main controller controls the battery of the mobile trolley 2 to supply power to magnetize the charging magnetic adsorption manipulator, and the magnetic charging plug 5-1 is adsorbed on the charging magnetic adsorption manipulator. (this process is applied to the path recognition based on the camera, and since this is a prior art, this embodiment will not be described in detail)
After the camera detects that the adsorption is successful, the camera starts to search for a charging interface identifier of a charging interface on the unmanned aerial vehicle 1 machine foot, and according to camera image information, the main controller controls the position of the mobile trolley 2 again, so that the position of a X, Y shaft of the charging magnetic adsorption manipulator is adjusted, the Z-axis height of the charging magnetic adsorption manipulator is adjusted through the vertical lifting mechanism 2-4, after the alignment, the main controller controls the battery of the mobile trolley 2 to be powered off, the charging magnetic adsorption manipulator is demagnetized, and simultaneously, electromagnets in a positive electrode hole and a negative electrode hole in the charging interface of the unmanned aerial vehicle 1 are magnetized, and the magnetic charging plug 5-1 is adsorbed on the charging interface to realize charging of the unmanned aerial vehicle 1.
At this time, the mobile cart 2 may continue to perform the same task of connecting to the power supply for other unmanned aerial vehicle 1 until the unmanned aerial vehicle 1 is fully charged, and then the mobile cart 2 removes the magnetic charging plug 5-1 on the unmanned aerial vehicle 1 and places it on the charging base 5-2 (this process needs to magnetize the charging magnetic adsorption manipulator and demagnetize the electromagnets in the positive electrode hole and the negative electrode hole in the charging interface of the unmanned aerial vehicle 1).
In the first embodiment, the magnetic charging plug 5-1 is two straight pins, and the two pins are inconsistent in length, and the long pin is longer than the short pin by more than one time, so that even if one pin is connected with the other pin, the other pin is not connected with the other pin; the other parts of the magnetic charging plug except the two straight pin plugs are all non-magnetic substances, so that the magnetic charging plug is favorable for accurate adsorption.
In addition, the charging base 5-2 is provided with an automatic wire winding machine, and when the mobile trolley 2 takes off the magnetic charging plug 5-1 on the unmanned aerial vehicle 1 and puts back the charging base 5-2, the automatic wire winding machine can retract the power wire into the charging base 5-2, so that the power wire is prevented from winding.
Embodiment two:
as shown in fig. 3, in the second embodiment, compared with the first embodiment, the surface of the apron 4 does not need to be provided with a charging module 5;
The auxiliary base station 3 is also provided with a charging power supply for charging the unmanned aerial vehicle 1 and the mobile trolley 2;
The charging interface carried by the unmanned aerial vehicle 1 is in a sphere shape with a charging interface identifier, and two parts opposite to the surface of the sphere are respectively provided with a positive electrode and a negative electrode which are connected with a battery of the unmanned aerial vehicle 1;
the manipulator 2-3 is a two-finger flexible manipulator, and the inner sides of the two finger grips are respectively provided with an anode and a cathode which are connected with a charging wire directly pulled out from a charging power supply in the auxiliary base station 3;
when the manipulator 2-3 clamps the charging interface carried by the unmanned aerial vehicle 1, the two anode and the cathode are communicated.
The working principle of the second embodiment differs from that of the first embodiment in that:
The portable dolly 2 directly draws a charging wire from the charging source in the supplementary basic station 3, and during charging, the flexible manipulator of two grabs tightly the spheroid interface that charges of clamping, and the spherical is laminated completely to the flexible manipulator medial surface of two grabs for two liang positive and negative pole intercommunication in the two improves charge quality.
Embodiment III:
As shown in fig. 4, in comparison with the third embodiment, the apron 4 is provided with a ceiling, a power grid supplied by a charging power supply of the auxiliary base station 3 is laid on the ceiling, a vertical electric pole connected to the power grid for taking electricity is mounted on the trolley main body 2-1, and the positive pole and the negative pole of the 2-3 inner sides of the two finger grips of the mechanical hand are communicated with the vertical electric pole.
The working principle of the third embodiment differs from that of the second embodiment in that:
the unmanned aerial vehicle charging wire which is originally led out from the auxiliary base station 3 and is connected to the manipulator 2-3 is changed into a ground network type power supply mode, an electrified power grid is arranged on the ceiling of the air park 4, and the movable trolley 2 takes power from the ceiling through the vertical electric pole, so that the unmanned aerial vehicle charging wire cannot cross, and the movable trolley 2 can move quickly conveniently.
Embodiment four:
As shown in fig. 5, in comparison with the four embodiments, the ceiling is paved with a longitudinal transmission guide rail and a transverse transmission guide rail, both of which are composed of screw rod transmission mechanisms;
The screw rod transmission mechanism comprises a motor, a screw rod and a sliding block; one end of the screw rod is connected with an output shaft of the motor, and the sliding block moves back and forth along the screw rod;
Wherein, the two groups of screw rod transmission mechanisms are arranged in balance to form a longitudinal transmission guide rail;
The third group of screw rod transmission mechanisms are perpendicular to the longitudinal transmission guide rail, and one ends of motors and screws in the third group of screw rod transmission mechanisms, which are far away from the motors, are respectively fixed at bottoms of sliding blocks in the two groups of screw rod transmission mechanisms forming the longitudinal transmission guide rail to form a transverse transmission guide rail;
the trolley body 2-1 is provided with a suspender, one end of the suspender is fixed with the trolley body 2-1, and the other end of the suspender is fixed with a sliding block in the transverse transmission guide rail; the movable trolley 2 is fixedly hung on a ceiling through a hanging rod;
the main controller in the movable trolley 2 is respectively connected with motors in the three groups of screw rod transmission mechanisms to control the motors to work;
the positive pole and the negative pole of the 2-3 inner sides of the two finger grabs of the manipulator are connected with a charging wire pulled out from a charging power supply in the auxiliary base station 3, the charging wire is a spring spiral wire, the spring spiral wire is wound on a ceiling firstly, then passes through a suspender, and finally reaches the manipulator.
The working principle of the fourth embodiment differs from that of the third embodiment in that:
the moving mode of the movable trolley 2 is changed into a crane fixedly suspended on the ceiling, the power line adopts a spring spiral wire, and the crane slides to the stopping position of the unmanned aerial vehicle 1 along the longitudinal transmission guide rail and the transverse transmission guide rail according to the stopping position of the unmanned aerial vehicle 1.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, so variations in shape and principles of the present invention should be covered.

Claims (1)

1. The unmanned aerial vehicle charging system is characterized by comprising an unmanned aerial vehicle (1), a movable trolley (2), an auxiliary base station (3) and an apron (4);
The unmanned aerial vehicle (1) is provided with a charging interface;
The movable trolley (2) comprises a trolley main body (2-1), a camera module (2-2), a GPS module, a trolley communication module, a main controller, a manipulator (2-3) and a vertical lifting mechanism (2-4); the vertical lifting mechanism (2-4) is arranged at the front end of the advancing direction of the trolley main body (2-1), the manipulator (2-3) is slidably fixed with the vertical lifting mechanism (2-4) through the fixing part (6), the camera module (2-2) is arranged at the top of the vertical lifting mechanism (2-4), the GPS module, the trolley communication module and the main controller are all arranged on the trolley main body (2-1), and the main controller is respectively connected with the camera module (2-2), the GPS module and the trolley communication module;
the auxiliary base station (3) is provided with a base station communication module;
The vertical lifting mechanism (2-4) comprises a vertical lifting slide rail (2-4-1) and a screw rod transmission mechanism (2-4-2), the screw rod transmission mechanism (2-4-2) is arranged at the rear side of the vertical lifting slide rail (2-4-1), and the extending direction of a screw rod in the screw rod transmission mechanism (2-4-2) is consistent with the extending direction of the vertical lifting slide rail (2-4-1); the manipulator (2-3) is fixed with the vertical lifting slide rail (2-4-1) in a sliding way through the fixing part (6), the end connected with the fixing part (6) is fixed with the screw transmission mechanism (2-4-2), and the screw transmission mechanism (2-4-2) drives the manipulator to lift up and down along the vertical lifting slide rail (2-4-1);
the auxiliary base station (3) is also provided with a charging power supply for assisting the unmanned aerial vehicle (1) and the mobile trolley (2) to charge;
the charging interface carried by the unmanned aerial vehicle (1) is in a sphere shape with a charging interface identifier, and two parts of the surface of the sphere, which are opposite, are respectively provided with a positive electrode and a negative electrode which are connected with a battery of the unmanned aerial vehicle (1);
The manipulator (2-3) is a two-finger flexible manipulator, and the inner sides of the two finger grips are respectively provided with a positive electrode and a negative electrode;
when the mechanical arm (2-3) clamps a charging interface carried by the unmanned aerial vehicle (1), the two electrodes are communicated with each other;
the parking apron (4) is provided with a ceiling;
The ceiling is paved with a longitudinal transmission guide rail and a transverse transmission guide rail, which are both composed of a screw rod transmission mechanism;
The screw rod transmission mechanism comprises a motor, a screw rod and a sliding block; one end of the screw rod is connected with an output shaft of the motor, and the sliding block moves back and forth along the screw rod;
Wherein, the two groups of screw rod transmission mechanisms are arranged in balance to form a longitudinal transmission guide rail;
The third group of screw rod transmission mechanisms are perpendicular to the longitudinal transmission guide rail, and one ends of motors and screws in the third group of screw rod transmission mechanisms, which are far away from the motors, are respectively fixed at bottoms of sliding blocks in the two groups of screw rod transmission mechanisms forming the longitudinal transmission guide rail to form a transverse transmission guide rail;
The trolley comprises a trolley body (2-1), a lifting rod, a sliding block, a transverse transmission guide rail and a sliding block, wherein one end of the lifting rod is fixed with the trolley body (2-1), and the other end of the lifting rod is fixed with the sliding block in the transverse transmission guide rail; the movable trolley (2) is fixedly hung on a ceiling through a hanging rod;
the main controller in the movable trolley (2) is respectively connected with motors in the three groups of screw rod transmission mechanisms to control the motors to work;
The positive electrode and the negative electrode on the inner sides of the two finger grips of the manipulator (2-3) are connected with a charging wire pulled out from a charging power supply in the auxiliary base station (3), the charging wire is a spring spiral wire which is wound on a ceiling firstly and then passes through a suspender, and finally reaches the manipulator.
CN201910846190.1A 2019-09-09 2019-09-09 Unmanned aerial vehicle charging system Active CN110654259B (en)

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CN112078814A (en) * 2020-09-24 2020-12-15 广州市港航工程研究所 Unmanned aerial vehicle start-stop control method, system, equipment and storage medium
CN113212781A (en) * 2021-06-24 2021-08-06 烟台中商人工智能科技有限公司 Unmanned aerial vehicle take-off and landing platform
CN113602517B (en) * 2021-08-24 2022-02-15 广东工业大学 Control method for sea surface recovery and charging platform of unmanned aerial vehicle
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