CN112531868A - Power supply device for unmanned formation motion platform - Google Patents
Power supply device for unmanned formation motion platform Download PDFInfo
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- CN112531868A CN112531868A CN202011304286.4A CN202011304286A CN112531868A CN 112531868 A CN112531868 A CN 112531868A CN 202011304286 A CN202011304286 A CN 202011304286A CN 112531868 A CN112531868 A CN 112531868A
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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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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- 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
- H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
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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
- H02J50/30—Circuit arrangements or systems for wireless supply or distribution of electric power using light, e.g. lasers
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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
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a power supply device for an unmanned formation motion platform, which comprises an energy supply unit, an energy transmitting unit, an energy receiving unit and an energy management unit, wherein the energy supply unit is used for supplying power to the unmanned formation motion platform; the energy supply unit provides an energy source in the whole system and comprises a diesel generator set, an energy storage battery pack, a solar photovoltaic assembly and a vehicle; the energy transmitting unit comprises a microwave transmitting antenna, a laser transmitting antenna and a magnetic coupling transmitting antenna; the energy receiving unit comprises a microwave receiving antenna, a laser receiving antenna and a magnetic coupling receiving antenna; the energy management unit comprises a microwave wireless energy transmission management module, a laser wireless energy transmission management module and a magnetic coupling wireless energy transmission management module. The invention makes up the defects of a single power supply mode and the ubiquitous acquisition of energy, and increases the adaptability to the types and positions of charging targets.
Description
Technical Field
The invention relates to the technical field of power supply and power supply, in particular to a power supply device of an unmanned formation motion platform.
Background
At present, most of power supplies of unmanned formation motion platforms still adopt batteries for energy storage and wired plug-in type battery charging, and the endurance time and endurance mileage of unmanned formation are reduced.
The prior art adopts wired charging mode to charge the battery, and the power supply plug does not match, and the automaticity is poor, and mobility is poor, and personnel's participation is high, may lead to rechargeable battery explosion, consequently has certain potential safety hazard, also has the risk that makes personal safety receive the harm.
For the unmanned formation motion platform, the mission task undertaken by the unmanned formation motion platform is diversified, so that diversified requirements are provided for a power supply guarantee system of the unmanned formation motion platform, and the power supply guarantee system used by the existing unmanned motion platform is single in technical system and difficult to meet the diversified task requirements.
Aiming at the problems of low power supply efficiency, poor automation and potential safety hazards in the power supply guarantee of the existing unmanned formation motion platform, different energy supply modes are selected to adapt to different task requirements, the adaptability of the power supply guarantee is improved, and a power supply guarantee system and a guarantee method for the unmanned formation motion platform need to be developed.
Disclosure of Invention
The invention discloses a power supply device for an unmanned formation motion platform, which aims at solving the problems of low power supply efficiency, poor automation and potential safety hazard in the conventional power supply guarantee for the unmanned formation motion platform, and simultaneously selects different energy supply modes to adapt to different task requirements to improve the adaptability of the power supply guarantee.
The invention discloses a power supply device for an unmanned formation motion platform.
The energy supply unit provides an energy source in the whole system and comprises a diesel generator set, an energy storage battery pack, a solar photovoltaic assembly and a vehicle. The diesel generator and the solar photovoltaic component are connected in parallel to the energy storage battery pack, and the generated electric energy is input into the energy storage battery pack to be stored. The solar photovoltaic module comprises a solar cell panel and a photovoltaic charger, and the energy storage battery pack comprises a battery pack body, an energy storage converter, an alternating current bus, a power grid and a three-phase contactor; the solar cell panel is connected with the cell pack body and the energy storage converter through the photovoltaic charger, the energy storage converter is connected with a power grid through an alternating current bus and supplies power to a load, a three-phase contactor is arranged between the power grid and the energy storage converter, and the energy storage converter realizes connection or disconnection of the power grid by controlling the three-phase contactor.
When the requirements of the working environment on noise detection and infrared detection are not strict or the weather condition without sunlight is severe, the energy supply unit adopts a mode of generating power and supplying energy by a diesel engine component; when the working environment is harsh in requirements on noise detection and infrared detection or under the condition of sufficient sunlight illumination intensity, the energy supply unit adopts a mode of supplying energy by a solar photovoltaic module and an energy storage battery. Furthermore, the energy supply unit is matched with a large energy storage battery pack to store the electric energy which is generated by the two power generation assemblies and is not consumed for use when needed.
The energy transmitting unit comprises a microwave transmitting antenna, a laser transmitting antenna and a magnetic coupling transmitting antenna. The solar photovoltaic component of the energy supply unit is respectively connected with the microwave transmitting antenna, the laser transmitting antenna and the magnetic coupling transmitting antenna and is used for outputting the stored electric energy to the three types of transmitting antennas.
When the output power of the three types of transmitting antennas is greater than the input power, the solar photovoltaic assembly of the energy supply unit provides electric energy for the three types of transmitting antennas, and when the output power is weakened and lower than the input power, the three types of transmitting antennas output feedback signals to the solar photovoltaic assembly of the energy supply unit, so that the solar photovoltaic assembly stores the electric energy generated by the energy supply unit, and energy conservation is realized. The microwave transmitting antenna is arranged on the outer surfaces of the head and the carriage of the vehicle contained in the energy supply unit, namely the front surface, the left surface and the right surface of the head and the rear surface, the left surface and the right surface of the carriage, and the total number of the surfaces is 6; the laser transmitting antenna is arranged on the top of the head of the vehicle contained in the energy supply unit; the magnetically coupled transmitting antenna is mounted on the roof of the vehicle compartment of the vehicle included in the energy supply unit. The magnetic coupling transmitting antenna is installed on the top of a vehicle compartment included in the energy supply unit, and the solar panel is installed on the top of the vehicle compartment included in the energy supply unit.
The microwave transmitting antenna is used for transmitting energy to ground working targets such as robots, robot dogs and the like; the laser transmitting antenna is used for transmitting energy to a working target which continuously works in an empty day and has high takeoff difficulty, and the typical working target is a fixed wing unmanned aerial vehicle; magnetic coupling high frequency transmitting antennas are used for energy transmission to autonomously takeoff work targets, such as rotor drones and hybrid wing drones.
The energy receiving unit comprises a microwave receiving antenna, a laser receiving antenna and a magnetic coupling receiving antenna; the microwave receiving antenna is installed on a ground working target through a rotating shaft body, the rotating shaft body is a two-dimensional rotating device installed below the microwave receiving antenna, and the rotating shaft body is used for achieving rotation of two-dimensional angles of ground level and ground vertical. The rotary shaft body comprises a rotary shaft body, a servo motor and an electric control module, the rotary shaft body is connected with the servo motor, and the servo motor is connected with the electric control module. The electric control module is based on a GPS positioning mode, a coordinate system with the position of the microwave transmitting antenna as an original point is established by calculating the position coordinate of the area where the microwave transmitting antenna is located and the position coordinate of the microwave receiving antenna, so that the relative angle relation of the microwave receiving antenna to the microwave transmitting antenna is calculated, the servo motor is driven to realize corresponding step rotation, the rotating shaft body is driven to rotate by a certain angle, and the microwave receiving antenna is aligned to the microwave transmitting antenna.
The laser receiving antenna is arranged on a working target which continuously works in the sky and is difficult to take off; the magnetic coupling receiving antenna is arranged on the work target of the autonomous takeoff.
The energy management unit comprises a microwave wireless energy transmission management module, a laser wireless energy transmission management module and a magnetic coupling wireless energy transmission management module.
The microwave wireless energy transmission management module is used for automatically dividing the transmitting area of the surface of the microwave transmitting antenna and automatically identifying the angle of the surface of different microwave transmitting antennas.
The microwave transmitting antenna surface is divided into transmitting areas independently, for different microwave transmitting antenna surfaces, the vehicle head and the vehicle carriage are provided with six surfaces with microwave transmitting antennas, after the vehicle is started, the microwave wireless energy transmission management module gives different numbers to the microwave transmitting antennas on each surface, and the purpose is to realize the independent control of the starting and stopping of the microwave transmitting antennas on each surface.
The microwave transmitting antenna surface is divided into transmitting areas independently, for the same microwave transmitting antenna surface, the microwave transmitting antennas which are arranged on the six surfaces of the vehicle head and the carriage are arranged, the microwave wireless energy transmission management module divides the microwave transmitting areas according to the number of the working targets and gives the transmitting areas and the working targets corresponding numbers, so that the microwave receiving antennas on the working targets are aligned to the microwave transmitting antennas in the transmitting areas with the corresponding numbers all the time under the action of the rotating shaft body.
The automatic angle identification of the surfaces of the different microwave transmitting antennas specifically comprises the steps of identifying the position of a target and identifying the angle of the target. And for the position of the identification target, identifying the microwave transmitting area corresponding to the position according to the position of the working target, so that only the microwave transmitting antenna at the corresponding position is started.
For identifying the target angle, the method mainly comprises the following steps:
and S1, judging whether the target is positioned on the left side or the right side of the vehicle body according to the position relation between the working target and the boundary line of the front carriage of the vehicle body.
And S2, if the working target is on the left side of the boundary line of the head carriage, judging the distance relationship between the working target and two end points X and Y of the boundary line of the head carriage, and judging the result to be point X far or point Y far.
S3, connecting the working target with the farthest point obtained in the previous step to obtain a line segment, judging the included angle between the line segment and the boundary line of the carriage of the locomotive, wherein the named included angle is gamma, and the judgment result is that gamma is more than 0 degrees and less than 45 degrees, and gamma is more than 45 degrees and less than 90 degrees.
And S4, selecting the charging area corresponding to the target according to the target position determination results in the steps S1 to S3.
The laser wireless energy transmission management module is realized by utilizing an automatic tracking device with a color filtering function based on weather automatic identification, and specifically comprises a weather condition identification submodule, a tracking submodule, an image identification and perception submodule and a navigation communication submodule, wherein the weather condition identification submodule is connected with the tracking submodule, the tracking submodule is connected with the image identification and perception submodule, and the image identification and perception submodule is connected with the navigation communication submodule.
The weather condition identification submodule detects the weather condition and sends a weather detection result to the tracking and aiming submodule, and the tracking and aiming submodule selects a corresponding tracking and aiming mode according to the weather detection result.
The weather detection result generated by the weather condition identification submodule for detecting the weather condition comprises excellent weather and bad weather, wherein the excellent weather comprises clear weather, breeze and cloudy weather, and the bad weather comprises cloudy weather, frost and fog, sleet, hail, thunderstorm, sand dust and the like.
The tracking and aiming sub-module selects a corresponding tracking and aiming mode according to a weather detection result, when the tracking and aiming sub-module receives the weather detection result with excellent weather, the tracking and aiming sub-module identifies the unmanned aerial vehicle and positions the unmanned aerial vehicle through a visible light image, and controls a two-dimensional rotary table contained in the tracking and aiming sub-module to correspondingly rotate according to the flight track and the appearance image characteristics of the unmanned aerial vehicle, so that the coincidence ratio of a laser transmitting antenna and a laser receiving antenna on the unmanned aerial vehicle body is always larger than 75%, and the continuous supply of energy is realized;
the tracking sub-module selects a corresponding tracking mode according to a weather detection result, when the tracking sub-module receives a weather detection result with severe weather, the tracking sub-module utilizes a SLAM radar navigation identification technology based on a GPS to perform laser energy tracking and aiming, and utilizes the image identification and perception sub-module to perform real-time scanning, if the image identification and perception sub-module detects the image information of the unmanned aerial vehicle, the unmanned aerial vehicle is enabled to keep flying at the original height, otherwise, the unmanned aerial vehicle is controlled to continuously reduce the flying height through the navigation communication sub-module until the image identification and perception sub-module detects the image information of the unmanned aerial vehicle.
The image recognition and perception submodule comprises a visible light lens, an automatic color filter device is attached in front of the visible light lens, and the automatic color filter device changes the color of the color filter according to the value of an illumination amplitude sensor contained in the image recognition and perception submodule. Specifically, when the illumination amplitude sensor detects that the illumination amplitude in the atmospheric environment exceeds or is lower than a set illumination threshold value in the system, the 'petal-shaped' color filter is controlled to rotate by a certain angle, so that the color filters with different colors are overlapped with the lens, and the operation of automatically replacing the color filters is realized.
When the magnetic coupling wireless energy transmission management module receives a signal that the unmanned aerial vehicles need to land and charge, the magnetic coupling wireless energy transmission management module calculates the residual electric quantity of each unmanned aerial vehicle, sorts the residual electric quantity from high to low, then feeds back the sorted information to the unmanned aerial vehicles to enable the unmanned aerial vehicles to land automatically at corresponding positions, when the magnetic coupling wireless energy transmission management module receives the signal that the unmanned aerial vehicles need to land and charge, firstly, the residual electric quantity of each unmanned aerial vehicle needing to charge is calculated, the residual electric quantity value of each unmanned aerial vehicle needing to charge is obtained, if each value is not repeated, the landing sequence of each unmanned aerial vehicle is sorted according to the residual electric quantity information of each unmanned aerial vehicle, the charging position information of the unmanned aerial vehicles landing is calculated according to the residual electric quantity information, and the information is fed back to the unmanned aerial vehicles, making it fall in turn and completing charging; on the contrary, if the situation that the residual electric quantity is consistent appears in some unmanned aerial vehicles needing to be charged, the unmanned aerial vehicles with the same residual electric quantity are additionally marked to indicate landing sequence, then the landing sequence of the unmanned aerial vehicles is sequenced according to the residual electric quantity information of the unmanned aerial vehicles, the charging position information of the unmanned aerial vehicles is calculated according to the residual electric quantity information, and the information is fed back to the unmanned aerial vehicles, so that the unmanned aerial vehicles land in sequence and complete charging.
The invention has the beneficial effects that:
(1) the energy supply unit integrates power generation and storage, so that the volume of an energy storage component is saved while the energy supply amount is increased, and high efficiency and convenience are realized; for the energy supply unit, a power supply technology integrating power generation and energy storage is adopted, and the energy supply unit has the advantages of increasing the supply amount of energy, making up for the defects of a single power supply mode and generally obtaining energy.
(2) The energy transmitting unit integrates three wireless energy transmission modes of magnetic coupling, microwave and laser, so that the energy transmitting unit has wide universality, the adaptability to the types of charging targets is improved, and the energy transmitting unit has an automatic energy distribution function, so that the energy transmitting unit can be more suitable for charging targets with various types and different positions. The invention increases the adaptability to the charging target position by installing the wireless transmitting antenna or the coil on the outer surface of the vehicle body.
Drawings
FIG. 1 is a schematic view of the location of an energy emitting unit on a vehicle body;
FIG. 2 is a schematic view of an energy receiving unit at a target location;
FIG. 3 is a schematic view of the surface numbering of six microwave transmitting antennas of the vehicle body;
FIG. 4 is a schematic diagram of the same surface emission region division;
FIG. 5 is a schematic diagram of charging area allocation;
FIG. 6 is a plot of built-in illumination thresholds;
FIG. 7 is a schematic view of a "petal" color filter;
FIG. 8 is a schematic diagram of the magnetic coupling charge landing logic determination.
Detailed Description
For a better understanding of the present disclosure, an example is given here.
The embodiment discloses a power supply device for an unmanned formation motion platform, which comprises an energy supply unit, an energy transmitting unit, an energy receiving unit and an energy management unit.
The energy supply unit is a device for providing an energy source in the whole system, and comprises a diesel generator set (11), an energy storage battery pack (12), a solar photovoltaic assembly (13) and a vehicle. The diesel generator and the solar photovoltaic component are connected in parallel to the energy storage battery pack, and the generated electric energy is input into the energy storage battery pack to be stored. The solar photovoltaic module comprises a solar cell panel (131) and a photovoltaic charger, and the energy storage battery pack comprises a battery pack body, an energy storage converter, an alternating current bus, a power grid and a three-phase contactor; the solar cell panel is connected with the cell pack body and the energy storage converter through the photovoltaic charger, the energy storage converter is connected with a power grid through an alternating current bus and supplies power to a load, a three-phase contactor is arranged between the power grid and the energy storage converter, and the energy storage converter realizes connection or disconnection of the power grid by controlling the three-phase contactor.
The positions of different energy supply units are different, the diesel generator is arranged below a cab of the vehicle head, the energy storage battery pack is arranged in a carriage of the electric vehicle, and the solar photovoltaic module is arranged in a certain area at the top of the carriage. Fig. 1 is a schematic view of the position of an energy emitting unit in a vehicle body. For the energy supply unit, a power supply technology integrating power generation and energy storage is adopted, and the energy supply unit has the advantages of increasing the supply amount of energy, making up the defects of a single power supply mode and realizing ubiquitous energy acquisition. In practical application, when the requirements of the working environment on noise detection and infrared detection are not strict or the weather condition without sunlight is severe, the energy supply unit adopts a mode of generating power and supplying energy by a diesel engine component; when the working environment is harsh in requirements on noise detection and infrared detection or under the condition of sufficient sunlight illumination intensity, the energy supply unit adopts a mode of supplying energy by a solar photovoltaic module and an energy storage battery. Furthermore, the energy supply unit is matched with a large energy storage battery pack to store the electric energy which is generated by the two power generation assemblies and is not consumed for use when needed.
The energy transmitting unit comprises a microwave transmitting antenna (21), a laser transmitting antenna (22) and a magnetic coupling transmitting antenna (23). The solar photovoltaic component of the energy supply unit is respectively connected with the microwave transmitting antenna, the laser transmitting antenna and the magnetic coupling transmitting antenna and is used for outputting the stored electric energy to the three types of transmitting antennas.
When the output power of the three types of transmitting antennas is greater than the input power, the solar photovoltaic assembly of the energy supply unit provides electric energy for the three types of transmitting antennas, and when the output power is weakened and lower than the input power, the three types of transmitting antennas output feedback signals to the solar photovoltaic assembly of the energy supply unit, so that the solar photovoltaic assembly stores the electric energy generated by the energy supply unit, and energy conservation is realized. In terms of installation positions, the microwave transmitting antennas are installed on the outer surfaces of the head and the carriage of the vehicle contained in the energy supply unit, namely the front, left and right surfaces of the head and the rear, left and right surfaces of the carriage, and the total number of the surfaces is 6; the laser transmitting antenna is arranged on the top of the head of the vehicle contained in the energy supply unit through a laser transmitting antenna rotating device (221); the magnetic coupling transmitting antenna is installed on the top of a carriage of the vehicle contained in the energy supply unit, the solar panel is installed on the top of the carriage of the vehicle, and the coverage area of the magnetic coupling transmitting antenna is about 3-4 times that of the solar panel. The position of the energy emitting unit in the vehicle body is schematically shown in fig. 2.
For the energy transmitting unit, the mounting position has the advantages that the adaptability to the type of a charging target is improved by combining three wireless energy transmission modes of microwave, laser and magnetic coupling, and the adaptability to the position of the charging target is improved by mounting the wireless transmitting antenna or coil on the outer surface of the vehicle body. In terms of application, the microwave transmitting antenna is used for transmitting energy to ground working targets such as robots, robot dogs and the like; the laser transmitting antenna is used for transmitting energy to a working target which continuously works in an empty day and has high takeoff difficulty, and the typical working target is a fixed wing unmanned aerial vehicle; magnetic coupling high frequency transmitting antennas are used for energy transmission to autonomously takeoff work targets, such as rotor drones and hybrid wing drones. In general, the transmitting antenna of the energy transmitting unit can charge the working target at any position, and wireless power transmission can be carried out on the working target at the front side, the left side, the right side and the upper side of the vehicle, so that the adaptability to the position of the charging target is improved.
The energy receiving unit comprises a microwave receiving antenna, a laser receiving antenna and a magnetic coupling receiving antenna; the microwave receiving antenna is installed on a ground working target through a rotary shaft body, the rotary shaft body is a two-dimensional rotating device installed below the microwave receiving antenna, the rotary shaft body is used for achieving rotation of two-dimensional angles of horizontal ground and vertical ground, and the rotation in the horizontal direction and the vertical direction forms a two-dimensional rotating function. Typical ground work targets to which microwave receiving antennas are mounted include robots, robot dogs, unmanned vehicles, and the like. The rotary shaft body comprises a rotary shaft body, a servo motor and an electric control module, the rotary shaft body is connected with the servo motor, and the servo motor is connected with the electric control module. The electric control module is based on a GPS positioning mode, a coordinate system with the position of the microwave transmitting antenna as an original point is established by calculating the position coordinate of the area where the microwave transmitting antenna is located and the position coordinate of the microwave receiving antenna, so that the relative angle relation of the microwave receiving antenna to the microwave transmitting antenna is calculated, the servo motor is driven to realize corresponding step rotation, the rotating shaft body is driven to rotate by a certain angle, and the microwave receiving antenna is aligned to the microwave transmitting antenna.
The laser receiving antenna is installed on a working target which continuously works in the sky and is difficult to take off, and a typical installation target of the laser receiving antenna is a fixed-wing unmanned aerial vehicle; the magnetic coupling receiving antenna is installed on an autonomous takeoff work target, and typical installation targets of the magnetic coupling receiving antenna are a rotor wing unmanned aerial vehicle and a hybrid wing unmanned aerial vehicle.
For the energy receiving unit, the microwave receiving antenna has the advantages that the microwave receiving antenna on the ground working target can be rotated, and the microwave receiving antenna can be opposite to the transmitting antenna no matter the microwave receiving antenna moves to the left side or the right side of the electric vehicle body, so that the microwave energy transmitted by the microwaves can be received.
The energy management unit comprises a microwave wireless energy transmission management module, a laser wireless energy transmission management module and a magnetic coupling wireless energy transmission management module.
The microwave wireless energy transmission management module is used for automatically dividing the transmitting area of the surface of the microwave transmitting antenna and automatically identifying the angle of the surface of different microwave transmitting antennas.
The microwave transmitting antenna surface is divided into transmitting areas independently, for different microwave transmitting antenna surfaces, the head and the carriage are provided with six surfaces with microwave transmitting antennas, after the vehicle is started, the microwave wireless energy transmission management module endows the microwave transmitting antennas on each surface with different numbers, the purpose is to independently control the starting and stopping of the microwave transmitting antennas on each surface, so that high efficiency and energy conservation are achieved, the schematic diagram of the surface numbers of the six microwave transmitting antennas on the vehicle body is shown in figure 3, the numbers of the surfaces of the microwave transmitting antennas on the front left surface and the front right surface of the head are A, B, C respectively, and the numbers of the surfaces of the microwave transmitting antennas on the rear left surface and the rear right surface of the carriage are D, E, F respectively.
The surface of the microwave transmitting antenna is divided into transmitting areas, for the same surface of the microwave transmitting antenna, the microwave transmitting antenna is arranged on six surfaces of a vehicle head and a carriage, and the microwave wireless energy transmission management module divides the microwave transmitting areas according to the number of working targets, for example: three targets are arranged in the recognizable area on the same surface, namely three transmitting areas are formed by self, corresponding numbers are given to the transmitting areas and the working targets, the numbers of the three transmitting areas are Aa, Ab and Ac respectively, and the numbers of the corresponding three working targets are also the same, so that the microwave receiving antenna on the working target is constantly aligned with the microwave transmitting antenna in the transmitting area with the corresponding number under the action of the rotating shaft body. The same surface emission area division is schematically shown in fig. 4.
The automatic angle identification of the surfaces of the different microwave transmitting antennas specifically comprises the steps of identifying the position of a target and identifying the angle of the target. And for the position of the identification target, identifying the microwave transmitting area corresponding to the position according to the position of the working target, so that only the microwave transmitting antenna at the corresponding position is started. For example, six microwave transmitting antennas have six corresponding numbers a to F, when only one ground work target exists, the vehicle body does not work in all charging areas, but the position of the work target is firstly identified, the current area of the work target is judged, then the internal system controls the corresponding charging area to charge the work target, the charging area distribution schematic diagram is shown in fig. 5, for the ABC area of the vehicle head, the charging area a is in the area of 45 degrees (total 90 degrees) above and below the vehicle axis α, the charging area B is in the area of 45 degrees below the vehicle axis β, and the charging area C is in the area of 45 degrees below the vehicle longitudinal axis. In the DEF region of the vehicle compartment, a charging region D is located in a region 30 ° (60 ° in total) above and below the vehicle axis α, a charging region E is located in a region below the vehicle body axis β by 45 ° to the left, and a charging region F is located in a region below the vehicle body longitudinal axis by 45 ° to the left.
For identifying the target angle, the method mainly comprises the following steps:
and S1, judging whether the target is positioned on the left side or the right side of the vehicle body according to the position relation between the working target and the boundary line of the front carriage of the vehicle body.
And S2, if the working target is on the left side of the boundary line of the head carriage, judging the distance relationship between the working target and two end points X and Y of the boundary line of the head carriage, and judging the result to be point X far or point Y far.
S3, connecting the working target with the farthest point obtained in the previous step to obtain a line segment, judging the included angle between the line segment and the boundary line of the carriage of the locomotive, wherein the named included angle is gamma, and the judgment result is that gamma is more than 0 degrees and less than 45 degrees, and gamma is more than 45 degrees and less than 90 degrees.
And S4, selecting the charging area corresponding to the target according to the target position determination results in the steps S1 to S3.
Table 1 shows a charge region selection logic. When the angle of gamma is 0 degrees, calling the judgment result of the step S2 again, and if the result is that the point X is far, starting the charging area C; if the result is that point X is far away, the charging area B is started. When the angle of γ is 90 °, the charging region a is activated.
TABLE 1 charging zone selection logic Table
| Lateral position determination | Distance determination | Angle judgment | Region selection |
| Left side of the | 0°≤γ＜45° | Point X far away | C |
| Left side of the | 45°≤γ≤90° | Point X far away | A |
| Left side of the | 0°≤γ＜45° | Point Y far away | B |
| Left side of the | 45°≤γ＜90° | Point Y far away | A |
| Right side of the | 0°＜γ＜45° | Point X far away | F |
| Right side of the | 45°≤γ≤90° | Point X far away | D |
| Right side of the | 0°＜γ＜45° | Point Y far away | E |
| Right side of the | 45°≤γ＜90° | Point Y far away | D |
The laser wireless energy transmission management module is realized by utilizing an automatic tracking device with a color filtering function based on weather automatic identification, and specifically comprises a weather condition identification submodule, a tracking submodule, an image identification and perception submodule and a navigation communication submodule, wherein the weather condition identification submodule is connected with the tracking submodule, the tracking submodule is connected with the image identification and perception submodule, and the image identification and perception submodule is connected with the navigation communication submodule.
The weather condition identification submodule detects the weather condition and sends a weather detection result to the tracking and aiming submodule, and the tracking and aiming submodule selects a corresponding tracking and aiming mode according to the weather detection result.
The weather detection result generated by the weather condition identification submodule for detecting the weather condition comprises excellent weather and bad weather, wherein the excellent weather comprises clear weather, breeze and cloudy weather, and the bad weather comprises cloudy weather, frost and fog, sleet, hail, thunderstorm, sand dust and the like. And the result generated by the weather condition identification sub-module is transmitted to the tracking sub-module, so that the tracking sub-module selects a corresponding tracking mode.
The tracking and aiming sub-module selects a corresponding tracking and aiming mode according to a weather detection result, when the tracking and aiming sub-module receives the weather detection result with excellent weather, the tracking and aiming module can easily and directly identify the position information of the unmanned aerial vehicle through the atmosphere, the tracking and aiming sub-module identifies the unmanned aerial vehicle through a visible light image and positions the unmanned aerial vehicle, and a two-dimensional rotary table contained in the tracking and aiming sub-module is controlled to correspondingly rotate according to the flight track and the appearance image characteristics of the unmanned aerial vehicle, so that the coincidence degree of a laser transmitting antenna and a laser receiving antenna on the unmanned aerial vehicle body is always more than 75%, and the continuous supply of energy is realized;
the tracking sub-module select corresponding tracking mode according to the weather testing result, when the tracking sub-module receives the weather testing result that weather is bad, prove that the current atmospheric environment is unfavorable for the tracking sub-module to directly discern unmanned aerial vehicle position information through the atmosphere, the tracking sub-module utilizes the SLAM radar navigation identification technology based on GPS to carry out the tracking of laser energy, and utilize image identification and perception sub-module to scan in real time, if image identification and perception sub-module detected unmanned aerial vehicle image information, make unmanned aerial vehicle keep the original altitude flight, otherwise will continuously reduce flying height through navigation communication sub-module control unmanned aerial vehicle, until image identification and perception sub-module detect unmanned aerial vehicle image information.
Under the condition of excellent weather conditions, the illumination intensity greatly influences the image recognition, the image recognition and perception submodule comprises a visible light lens (311), an automatic color filter device is attached in front of the visible light lens, and the color of the color filter is changed by the automatic color filter device according to the value of an illumination amplitude sensor contained in the image recognition and perception submodule. Specifically, when the illumination amplitude sensor detects that the illumination amplitude in the atmospheric environment exceeds or is lower than a set illumination threshold value in the system, the petal-shaped color filter rotating shaft (313) is controlled to rotate for a certain angle, so that the color filters (312) with different colors are overlapped with the lens, and the operation of automatically replacing the color filters is realized. The built-in illumination threshold curve is shown in fig. 6. The "petal" color filter is shown in FIG. 7.
The magnetic coupling wireless energy transmission management module selectively charges autonomous takeoff work targets such as a rotor unmanned aerial vehicle and a hybrid wing unmanned aerial vehicle based on a logic judgment algorithm, and calculates to distribute the charging positions of the unmanned aerial vehicles based on the logic judgment of electric quantity. Specifically, when the magnetic coupling wireless energy transmission management module receives a signal that the unmanned aerial vehicle needs to land and be charged, the magnetic coupling wireless energy transmission management module calculates the remaining power of each unmanned aerial vehicle, sorts the remaining power from high to low, and then feeds back the sorted information to the unmanned aerial vehicle, so that the unmanned aerial vehicle automatically lands at a corresponding position, and the logic judgment schematic diagram is shown in fig. 8. As shown in fig. 8, when the magnetic coupling wireless energy transmission management module receives a signal that the unmanned aerial vehicle needs to land and charge, the magnetic coupling wireless energy transmission management module firstly measures and calculates the remaining power of each unmanned aerial vehicle needing to charge to obtain the remaining power value of each unmanned aerial vehicle needing to charge, if each value is not repeated, the landing sequence of each unmanned aerial vehicle is sequenced according to the remaining power information of each unmanned aerial vehicle, the landing charging position information of the unmanned aerial vehicle is calculated according to the remaining power information, and the information is fed back to the unmanned aerial vehicle, so that the unmanned aerial vehicle lands in sequence and completes charging; on the contrary, if the situation that the residual electric quantity is consistent appears in some unmanned aerial vehicles needing to be charged, the unmanned aerial vehicles with the same residual electric quantity are additionally marked to indicate landing sequence, then the landing sequence of the unmanned aerial vehicles is sequenced according to the residual electric quantity information of the unmanned aerial vehicles, the charging position information of the unmanned aerial vehicles is calculated according to the residual electric quantity information, and the information is fed back to the unmanned aerial vehicles, so that the unmanned aerial vehicles land in sequence and complete charging. For example: when the management module received the signal that three unmanned aerial vehicle need charge, the unmanned aerial vehicle A's of first discernment electric quantity is 42.6%, unmanned aerial vehicle B's of discernment electric quantity is 47.4%, unmanned aerial vehicle C's of last discernment electric quantity is 47.9%, the management module is with ordering from high to low electric quantity earlier, promptly "C > B > A", next management module feeds back the information feedback of ordering to unmanned aerial vehicle, order about unmanned aerial vehicle A to descend the third potential of charging, order about unmanned aerial vehicle B to descend to the second potential of charging, order about unmanned aerial vehicle C to descend to the first potential of charging, more unmanned aerial vehicle charges like this logic and operates, avoid taking place to charge chaotic phenomenon.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (7)
1. A power supply device for an unmanned formation motion platform is characterized by comprising an energy supply unit, an energy transmitting unit, an energy receiving unit and an energy management unit;
the energy supply unit provides an energy source in the whole system and comprises a diesel generator set, an energy storage battery pack, a solar photovoltaic assembly and a vehicle; the diesel generator and the solar photovoltaic module are connected in parallel to the energy storage battery pack, and the generated electric energy is input into the energy storage battery pack to be stored;
the solar photovoltaic module comprises a solar cell panel and a photovoltaic charger, and the energy storage battery pack comprises a battery pack body, an energy storage converter, an alternating current bus, a power grid and a three-phase contactor; the solar cell panel is connected with the cell pack body and the energy storage converter through the photovoltaic charger, the energy storage converter is connected with a power grid through an alternating current bus and supplies power to a load, a three-phase contactor is arranged between the power grid and the energy storage converter, and the energy storage converter realizes the connection or disconnection of the power grid by controlling the three-phase contactor;
the energy transmitting unit comprises a microwave transmitting antenna, a laser transmitting antenna and a magnetic coupling transmitting antenna; the solar photovoltaic component of the energy supply unit is respectively connected with the microwave transmitting antenna, the laser transmitting antenna and the magnetic coupling transmitting antenna and is used for outputting the stored electric energy to the three types of transmitting antennas; the microwave transmitting antenna is used for transmitting energy to ground working targets such as robots, robot dogs and the like; the laser transmitting antenna is used for transmitting energy to a working target which continuously works in an empty day and has high takeoff difficulty, and the typical working target is a fixed wing unmanned aerial vehicle; the magnetic coupling high-frequency transmitting antenna is used for transmitting energy to an autonomous takeoff working target, wherein typical working targets comprise a rotor wing unmanned aerial vehicle and a mixed wing unmanned aerial vehicle;
the energy receiving unit comprises a microwave receiving antenna, a laser receiving antenna and a magnetic coupling receiving antenna; the microwave receiving antenna is arranged on a ground working target through a rotating shaft body, the rotating shaft body is a two-dimensional rotating device arranged below the microwave receiving antenna, and the rotating shaft body is used for realizing rotation of two-dimensional angles of horizontal ground and vertical ground; the rotating shaft body comprises a rotating shaft body, a servo motor and an electric control module, the rotating shaft body is connected with the servo motor, and the servo motor is connected with the electric control module; the electric control module establishes a coordinate system with the position of the microwave transmitting antenna as an original point by calculating the position coordinate of the area where the microwave transmitting antenna is located and the position coordinate of the microwave receiving antenna based on a GPS (global positioning system) positioning mode, thereby calculating the relative angle relation of the microwave receiving antenna to the microwave transmitting antenna, driving the servo motor to realize corresponding step rotation, driving the rotating shaft body to rotate by a certain angle, and enabling the microwave receiving antenna to be aligned to the microwave transmitting antenna; the laser receiving antenna is arranged on a working target which continuously works in the sky and is difficult to take off; the magnetic coupling receiving antenna is arranged on an autonomous takeoff working target;
the energy management unit comprises a microwave wireless energy transmission management module, a laser wireless energy transmission management module and a magnetic coupling wireless energy transmission management module;
the microwave wireless energy transmission management module is used for automatically dividing the surface of the microwave transmitting antenna into transmitting areas and automatically identifying angles of different microwave transmitting antenna surfaces;
the laser wireless energy transmission management module is realized by using an automatic tracking device with a color filtering function based on weather automatic identification, and specifically comprises a weather condition identification submodule, a tracking submodule, an image identification and perception submodule and a navigation communication submodule, wherein the weather condition identification submodule is connected with the tracking submodule, the tracking submodule is connected with the image identification and perception submodule, and the image identification and perception submodule is connected with the navigation communication submodule;
when the magnetic coupling wireless energy transmission management module receives a signal that the unmanned aerial vehicles need to land and charge, the magnetic coupling wireless energy transmission management module calculates the residual electric quantity of each unmanned aerial vehicle, sorts the residual electric quantity from high to low, then feeds back the sorted information to the unmanned aerial vehicles to enable the unmanned aerial vehicles to land automatically at corresponding positions, when the magnetic coupling wireless energy transmission management module receives the signal that the unmanned aerial vehicles need to land and charge, firstly, the residual electric quantity of each unmanned aerial vehicle needing to charge is calculated, the residual electric quantity value of each unmanned aerial vehicle needing to charge is obtained, if each value is not repeated, the landing sequence of each unmanned aerial vehicle is sorted according to the residual electric quantity information of each unmanned aerial vehicle, the charging position information of the unmanned aerial vehicles landing is calculated according to the residual electric quantity information, and the information is fed back to the unmanned aerial vehicles, making it fall in turn and completing charging; on the contrary, if the situation that the residual electric quantity is consistent appears in some unmanned aerial vehicles needing to be charged, the unmanned aerial vehicles with the same residual electric quantity are additionally marked to indicate landing sequence, then the landing sequence of the unmanned aerial vehicles is sequenced according to the residual electric quantity information of the unmanned aerial vehicles, the charging position information of the unmanned aerial vehicles is calculated according to the residual electric quantity information, and the information is fed back to the unmanned aerial vehicles, so that the unmanned aerial vehicles land in sequence and complete charging.
2. The power supply device for the unmanned formation motion platform as claimed in claim 1, wherein the power supply unit adopts a diesel engine component to generate power and supply power under the condition that the working environment is not harsh on noise detection and infrared detection or under the condition of no sunlight and severe weather conditions; when the requirements of the working environment on noise detection and infrared detection are severe or the sunlight intensity is sufficient, the energy supply unit adopts a mode of supplying energy by a solar photovoltaic module and an energy storage battery; the energy supply unit is matched with a large energy storage battery pack to store the electric energy which is generated by the two power generation assemblies and is not consumed for use when needed.
3. The unmanned formation motion platform power supply device of claim 1, wherein when the output power of the three types of transmitting antennas, namely the microwave transmitting antenna, the laser transmitting antenna and the magnetic coupling transmitting antenna, is greater than the input power, the solar photovoltaic module of the energy supply unit supplies electric energy to the three types of transmitting antennas, and when the output power is weakened and lower than the input power, the three types of transmitting antennas output feedback signals to the solar photovoltaic module of the energy supply unit, so that the solar photovoltaic module stores the electric energy generated by the energy supply unit, and energy conservation is realized; the microwave transmitting antenna is arranged on the outer surfaces of the head and the carriage of the vehicle contained in the energy supply unit, namely the front surface, the left surface and the right surface of the head and the rear surface, the left surface and the right surface of the carriage, and the total number of the surfaces is 6; the laser transmitting antenna is arranged on the top of the head of the vehicle contained in the energy supply unit; the magnetic coupling transmitting antenna is arranged on the top of a carriage of the vehicle contained in the energy supply unit; the magnetic coupling transmitting antenna is installed on the top of a vehicle compartment included in the energy supply unit, and the solar panel is installed on the top of the vehicle compartment included in the energy supply unit.
4. The power supply device for the unmanned formation motion platform as claimed in claim 1, wherein the microwave transmitting antenna surface is divided into transmitting areas autonomously, six microwave transmitting antennas are attached to the vehicle head and the vehicle carriage for different microwave transmitting antenna surfaces, and after the vehicle is started, the microwave wireless energy transmission management module assigns different numbers to the microwave transmitting antennas on each surface for the purpose of controlling the starting and stopping of the microwave transmitting antennas on each surface independently;
the microwave transmitting antenna surface is divided into transmitting areas independently, for the same microwave transmitting antenna surface, the microwave transmitting antennas which are arranged on the six surfaces of the vehicle head and the carriage are arranged, the microwave wireless energy transmission management module divides the microwave transmitting areas according to the number of the working targets and gives the transmitting areas and the working targets corresponding numbers, so that the microwave receiving antennas on the working targets are aligned to the microwave transmitting antennas in the transmitting areas with the corresponding numbers all the time under the action of the rotating shaft body.
5. The power supply device for unmanned formation motion platforms as claimed in claim 1, wherein the different microwave transmitting antenna surfaces automatically identify angles, specifically including an identified target position and an identified target angle; for the identification target position, according to the position of the working target, identifying the microwave transmitting area corresponding to the position, and only starting the microwave transmitting antenna at the corresponding position;
for identifying the target angle, the method mainly comprises the following steps:
s1, judging whether the target is positioned on the left side or the right side of the vehicle body according to the position relation between the working target and the boundary of the front carriage of the vehicle body;
s2, if the working target is on the left side of the boundary line of the head carriage, judging the distance relationship between the working target and two end points X and Y of the boundary line of the head carriage, and judging whether the result is point X far or point Y far;
s3, connecting the working target with the farthest point obtained in the previous step to obtain a line segment, judging the included angle between the line segment and the boundary line of the carriage of the locomotive, wherein the named included angle is gamma, and the judgment result is that gamma is more than 0 degrees and less than 45 degrees, and gamma is more than 45 degrees and less than 90 degrees;
and S4, selecting the charging area corresponding to the target according to the target position determination results in the steps S1 to S3.
6. The unmanned formation motion platform power supply device of claim 1, wherein the weather condition recognition sub-module detects weather conditions and sends the weather detection results to the tracking sub-module, and the tracking sub-module selects a corresponding tracking mode according to the weather detection results;
the weather detection result generated by the weather condition identification submodule for detecting the weather condition comprises excellent weather and severe weather, wherein the excellent weather comprises clear weather, breeze and cloudy weather, and the severe weather comprises cloudy weather, frost and fog, sleet, hail, thunderstorm, sand dust and the like;
the tracking and aiming sub-module selects a corresponding tracking and aiming mode according to a weather detection result, when the tracking and aiming sub-module receives the weather detection result with excellent weather, the tracking and aiming sub-module identifies the unmanned aerial vehicle and positions the unmanned aerial vehicle through a visible light image, and controls a two-dimensional rotary table contained in the tracking and aiming sub-module to correspondingly rotate according to the flight track and the appearance image characteristics of the unmanned aerial vehicle, so that the coincidence ratio of a laser transmitting antenna and a laser receiving antenna on the unmanned aerial vehicle body is always larger than 75%, and the continuous supply of energy is realized;
the tracking sub-module selects a corresponding tracking mode according to a weather detection result, when the tracking sub-module receives a weather detection result with severe weather, the tracking sub-module utilizes a SLAM radar navigation identification technology based on a GPS to perform laser energy tracking and aiming, and utilizes the image identification and perception sub-module to perform real-time scanning, if the image identification and perception sub-module detects the image information of the unmanned aerial vehicle, the unmanned aerial vehicle is enabled to keep flying at the original height, otherwise, the unmanned aerial vehicle is controlled to continuously reduce the flying height through the navigation communication sub-module until the image identification and perception sub-module detects the image information of the unmanned aerial vehicle.
7. The power supply device for the unmanned formation motion platform as claimed in claim 1, wherein the image recognition and sensing submodule comprises a visible light lens, and an automatic color filter device is attached in front of the visible light lens, and the automatic color filter device changes the color of the color filter according to the value of an illumination amplitude sensor contained in the image recognition and sensing submodule; specifically, when the illumination amplitude sensor detects that the illumination amplitude in the atmospheric environment exceeds or is lower than a set illumination threshold value in the system, the 'petal-shaped' color filter is controlled to rotate by a certain angle, so that the color filters with different colors are overlapped with the lens, and the operation of automatically replacing the color filters is realized.
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| CN106787241A (en) * | 2016-11-30 | 2017-05-31 | 武汉大学 | Frontier defense patrol unmanned plane wireless charging system with warning function |
| CN207218351U (en) * | 2017-08-18 | 2018-04-10 | 华南理工大学 | A kind of round-the-clock wireless charging platform of power patrol unmanned machine |
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