CN113085596B - Unmanned aerial vehicle descending precision adjusting method and system based on charging coupling mechanism - Google Patents

Unmanned aerial vehicle descending precision adjusting method and system based on charging coupling mechanism Download PDF

Info

Publication number
CN113085596B
CN113085596B CN202110241936.3A CN202110241936A CN113085596B CN 113085596 B CN113085596 B CN 113085596B CN 202110241936 A CN202110241936 A CN 202110241936A CN 113085596 B CN113085596 B CN 113085596B
Authority
CN
China
Prior art keywords
voltage difference
unmanned aerial
aerial vehicle
difference value
voltage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110241936.3A
Other languages
Chinese (zh)
Other versions
CN113085596A (en
Inventor
陈绍南
陈千懿
高立克
俞小勇
奉斌
秦丽文
吴丽芳
李克文
欧世锋
欧阳健娜
黄伟翔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Electric Power Research Institute of Guangxi Power Grid Co Ltd
Original Assignee
Electric Power Research Institute of Guangxi Power Grid Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Electric Power Research Institute of Guangxi Power Grid Co Ltd filed Critical Electric Power Research Institute of Guangxi Power Grid Co Ltd
Priority to CN202110241936.3A priority Critical patent/CN113085596B/en
Publication of CN113085596A publication Critical patent/CN113085596A/en
Application granted granted Critical
Publication of CN113085596B publication Critical patent/CN113085596B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Abstract

The invention discloses a charger coupling mechanism-based charger coupling mechanismThe man-machine descent precision adjusting method and system are characterized in that the charging coupling mechanism comprises a primary side discharging circuit structure arranged in a wireless charging platform and provided with a transmitting coil, and a secondary side charging circuit structure arranged in the unmanned machine and provided with N receiving coils connected in series, and the method comprises the following steps: acquiring electric energy transmitted by a transmitting coil based on N receiving coils, and acquiring a voltage signal induced by each receiving coil; calculating the voltage difference between every two receiving coils, and counting the voltage difference
Figure DDA0002962524390000011
A voltage difference value; judgment of
Figure DDA0002962524390000012
Whether at least one voltage difference value in the voltage difference values does not fall within a threshold range exists; if yes, according to the pair
Figure DDA0002962524390000013
The unmanned aerial vehicle is controlled to perform position adjustment according to the judgment result of the voltage difference value, and then voltage signals sensed by each receiving coil are returned and collected; if not, control unmanned aerial vehicle descends on the spot on wireless charging platform.

Description

Unmanned aerial vehicle descending precision adjusting method and system based on charging coupling mechanism
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a descending precision adjusting method and system of an unmanned aerial vehicle based on a charging coupling mechanism.
Background
Because current unmanned aerial vehicle is applied to intelligent the work of patrolling and examining more, it has the necessity to realize that unmanned aerial vehicle independently charges. The unmanned aerial vehicle charging method has the advantages that the mode of adopting contact charging is provided on the basis for charging the unmanned aerial vehicle, namely when the unmanned aerial vehicle stops on the charging platform, the transmitting coil on the charging platform transmits electric energy to the receiving coil on the unmanned aerial vehicle, and the trouble that the charging head needs to be manually plugged or the battery needs to be manually replaced in the charging process can be eliminated. But because positioning error, unmanned aerial vehicle parks and can produce offset on charging platform inevitable for can appear charging efficiency low, the charge time is long, energy loss big scheduling problem in carrying out wireless charging process to unmanned aerial vehicle.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method and a system for adjusting descending precision of an unmanned aerial vehicle based on a charging coupling mechanism, so that the situation of position deviation of the unmanned aerial vehicle during landing is greatly improved, the wireless charging efficiency of the unmanned aerial vehicle is effectively improved, and the energy loss is reduced.
In order to solve the above problems, the present invention provides a method for adjusting descending accuracy of an unmanned aerial vehicle based on a charging coupling mechanism, wherein the charging coupling mechanism comprises a primary side discharging circuit structure arranged inside a wireless charging platform and a secondary side charging circuit structure arranged inside the unmanned aerial vehicle, the primary side discharging circuit structure is provided with a transmitting coil, the secondary side charging circuit structure is provided with N receiving coils, and the N receiving coils are connected in series, and the adjusting method comprises:
acquiring voltage signals induced on each receiving coil in the N receiving coils based on the electric energy transmitted by the transmitting coil acquired by the N receiving coils;
calculating the voltage difference between every two receiving coils in the N receiving coils, and comparing the calculated voltage difference
Figure BDA0002962524370000021
Carrying out statistical sorting on the voltage difference values;
judging that
Figure BDA0002962524370000022
Whether at least one voltage difference value does not fall within the threshold range exists in the voltage difference values;
if yes, according to the comparison
Figure BDA0002962524370000023
The judgment result of each voltage difference value controls the unmanned aerial vehicle to carry out adaptive position adjustment, and then voltage signals induced on each receiving coil in the N receiving coils are collected;
if not, the unmanned aerial vehicle is controlled to land on the wireless charging platform on the spot.
Optionally, the basis is to
Figure BDA0002962524370000024
The judging result of each voltage difference value controls the unmanned aerial vehicle to carry out adaptability adjustment, and the method comprises the following steps:
record the said
Figure BDA0002962524370000025
M voltage difference values which do not fall within the threshold range in the voltage difference values are extracted, and a voltage difference value U arranged at the forefront is extracted from the M voltage difference values according to a preset arrangement sequence ij (i is more than or equal to 1 and less than or equal to N, j is more than or equal to 1 and less than or equal to N, and i is not equal to j);
according to the voltage difference value U ij Determining the current offset direction of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to face the current offset direction according to a set step lengthThe forward offset direction is shifted by one step.
Optionally, the voltage difference value U is used for determining the voltage difference value ij Determining a current offset direction of the drone includes:
based on the voltage difference value U ij If the current offset direction of the unmanned aerial vehicle is positive, determining that the current offset direction of the unmanned aerial vehicle faces the position of the ith receiving coil;
based on the voltage difference value U ij And determining the current offset direction of the unmanned aerial vehicle as the position of the jth receiving coil, wherein the current offset direction is negative.
In addition, an embodiment of the present invention further provides a system for adjusting descending accuracy of an unmanned aerial vehicle based on a charging coupling mechanism, where the charging coupling mechanism includes a primary side discharging circuit structure disposed inside a wireless charging platform and a secondary side charging circuit structure disposed inside the unmanned aerial vehicle, the primary side discharging circuit structure is provided with a transmitting coil, the secondary side charging circuit structure is provided with N receiving coils, and the N receiving coils are connected in series, and the adjusting system includes:
the voltage acquisition module is used for acquiring voltage signals induced on each receiving coil in the N receiving coils based on the electric energy transmitted by the transmitting coil acquired by the N receiving coils;
a difference value statistic module for calculating the voltage difference value between every two receiving coils in the N receiving coils and comparing the calculated voltage difference values
Figure BDA0002962524370000031
Carrying out statistical sorting on the voltage difference values;
a threshold judging module for judging the above
Figure BDA0002962524370000032
Whether at least one voltage difference value does not fall within the threshold range exists in the voltage difference values;
a position adjusting module for judging whether at least one voltage difference value is within the threshold range or not, and then adjusting the position according to the voltage difference value
Figure BDA0002962524370000033
The judgment result of each voltage difference value controls the unmanned aerial vehicle to carry out adaptive position adjustment, and then the voltage acquisition module is returned to operate;
and the landing control module is used for controlling after each voltage difference value is judged to fall within the threshold range, and the unmanned aerial vehicle lands on the spot on the wireless charging platform.
Optionally, the position adjusting module includes:
a difference value screening unit for recording the difference value
Figure BDA0002962524370000034
M voltage difference values which do not fall within the threshold range are extracted from the voltage difference values, and a voltage difference value U arranged at the forefront is extracted from the M voltage difference values according to a given arrangement sequence ij (i is more than or equal to 1 and less than or equal to N, j is more than or equal to 1 and less than or equal to N, and i is not equal to j);
a mobile control unit for controlling the voltage difference U ij And determining the current offset direction of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to move one step towards the current offset direction according to a set step length.
Optionally, the mobile control unit is configured to control the voltage difference U based on the voltage difference value U ij If the current offset direction of the unmanned aerial vehicle is positive, determining that the current offset direction of the unmanned aerial vehicle faces the position of the ith receiving coil; or based on said voltage difference U ij And determining the current offset direction of the unmanned aerial vehicle as the position of the jth receiving coil, wherein the current offset direction is negative.
In the embodiment of the invention, the voltage signals sensed by the receiving coils arranged on the charging coupling mechanism are monitored in real time and pre-judged for rationality, so that the landing position of the unmanned aerial vehicle can be adjusted in time, the situation of position deviation when the unmanned aerial vehicle lands can be greatly improved, the wireless charging efficiency of the unmanned aerial vehicle is effectively improved, the energy loss is reduced, and the charging time is shortened.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a specific circuit schematic diagram of a charging coupling mechanism in an embodiment of the invention;
fig. 2 is a schematic flow chart of a method for adjusting descending accuracy of an unmanned aerial vehicle based on a charging coupling mechanism in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle descent precision adjustment system based on a charging coupling mechanism in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a specific circuit diagram of a charging coupling mechanism in an embodiment of the present invention.
As shown in fig. 1, a charging coupling mechanism includes a primary side discharging circuit structure disposed inside a wireless charging platform and a secondary side charging circuit structure disposed inside an unmanned aerial vehicle. Wherein: the primary side discharge circuit structure is provided with a transmitting coil Lp1 which adopts a circular transmitting coil; the secondary side charging circuit structure is provided with N receiving coils (four receiving coils Ls 1-Ls 4 are selected in the embodiment of the invention), each receiving coil in the N receiving coils adopts a solenoid type receiving coil, and the N receiving coils are connected in series.
More specifically, the primary side discharge circuit structure further includes a high-frequency alternating-current power supply U1, a filter inductor L1, a filter capacitor C1, and a resonant capacitor Cp1, and the filter inductor L1 and the filter capacitor C1 form a basic filter circuit for performing filtering processing on alternating current transmitted by the high-frequency alternating-current power supply U1; the primary side discharge circuit structure further comprises four corresponding resonant capacitors Cs 1-Cs 4 and an equivalent load R1. In the practical application process, the transmitting coil Lp1 generates charging connection through mutual inductance M1 between the transmitting coil Lp1 and the receiving coil Ls1, the transmitting coil Lp1 generates charging connection through mutual inductance M2 between the transmitting coil Lp1 and the receiving coil Ls2, the transmitting coil Lp1 generates charging connection through mutual inductance M3 between the transmitting coil Lp1 and the receiving coil Ls3, the transmitting coil Lp1 generates charging connection through mutual inductance M4 between the transmitting coil Lp1 and the receiving coil Ls4, and the charging work of the wireless charging platform on the unmanned aerial vehicle can be continuously completed under the condition that four groups of charging connection circuits are in normal operation at the same time.
The four receiving coils are in central symmetry, and a cylindrical magnetic core is arranged in the solenoid of each receiving coil, so that the weight of the unmanned aerial vehicle body can be reduced to prolong the cruising ability of the unmanned aerial vehicle, and the coupling degree between the primary side discharging circuit structure and the secondary side charging circuit structure can be enhanced to improve the transmission efficiency.
On the basis of the circuit of the charging coupling mechanism, fig. 2 shows a schematic flow chart of the unmanned aerial vehicle descent precision adjustment method based on the charging coupling mechanism in the embodiment of the present invention.
As shown in fig. 2, a method for adjusting descending accuracy of an unmanned aerial vehicle based on a charging coupling mechanism includes the following steps:
s101, acquiring electric energy transmitted by a transmitting coil based on N receiving coils, and collecting voltage signals induced on each receiving coil in the N receiving coils;
the implementation process of the invention is as follows: according to the specific circuit schematic diagram of the charging coupling mechanism shown in fig. 1, when the linear distance between the unmanned aerial vehicle and the wireless charging platform is within a specific range, the wireless charging platform starts an internal primary side discharging circuit structure, so that the transmitting coil Lp1 starts to perform wireless discharging. On this basis, the unmanned aerial vehicle startsThe measurement program collects the voltage signal U induced on the receiving coil Ls1 1 And a voltage signal U induced on the receiving coil Ls2 2 And a voltage signal U induced on the receiving coil Ls3 3 And the voltage signal U sensed on the receiving coil Ls4 4 。
S102, calculating the voltage difference value between every two receiving coils in the N receiving coils, and comparing the calculated voltage difference values
Figure BDA0002962524370000061
Carrying out statistical sorting on the voltage difference values;
in the embodiment of the present invention, 6 (i.e. 6) can be obtained by performing the difference operation on two pairs
Figure BDA0002962524370000062
Figure BDA0002962524370000063
) The voltage differences are: a voltage difference value U between the receiving coil Ls1 and the receiving coil Ls2 12 The voltage difference U between said receiving coil Ls2 and said receiving coil Ls3 23 The voltage difference U between said receiving coil Ls3 and said receiving coil Ls4 34 The voltage difference U between said receiving coil Ls1 and said receiving coil Ls3 13 The voltage difference U between said receiving coil Ls2 and said receiving coil Ls4 24 A voltage difference U between the receiving coil Ls1 and the receiving coil Ls4 14 (ii) a And then, sequencing the 6 voltage difference values according to the sequence of the bottom marks from small to large as follows: u shape 12 →U 13 →U 14 →U 23 →U 24 →U 34 。
S103, judging
Figure BDA0002962524370000064
Whether at least one voltage difference value does not fall within the threshold range exists in the voltage difference values;
in the embodiment of the invention, the four receiving coils L are finally aligned with the transmitting coil Lp1 firstlyThe middle positions of s1 to Ls4 are reference conditions set for checking the above by a previously repeated test
Figure BDA0002962524370000065
A threshold range of voltage difference rationality; then, determining the
Figure BDA0002962524370000066
Whether at least one voltage difference value does not fall within the threshold range exists in the voltage difference values, and the corresponding judgment result is as follows: if at least one voltage difference value does not fall within the threshold range, continuing to execute the step S104; if each voltage difference value is within the threshold range, the step S105 is skipped.
S104, according to the above
Figure BDA0002962524370000067
The judgment result of each voltage difference value controls the unmanned aerial vehicle to carry out adaptive position adjustment;
the implementation process of the invention comprises the following steps:
(1) Record the said
Figure BDA0002962524370000068
M voltage difference values which do not fall within the threshold range are extracted from the voltage difference values, and a voltage difference value U arranged at the forefront is extracted from the M voltage difference values according to a given arrangement sequence ij (i is more than or equal to 1 and less than or equal to N, j is more than or equal to 1 and less than or equal to N, and i is not equal to j);
(2) According to the voltage difference value U ij And determining the current offset direction of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to move one step towards the current offset direction according to the set step length.
In particular, based on the voltage difference U ij If the current offset direction of the unmanned aerial vehicle is positive, determining that the current offset direction of the unmanned aerial vehicle faces the position of the ith receiving coil, controlling the unmanned aerial vehicle to move one step towards the position of the ith receiving coil according to a set step length, and returning to execute the step S101 again; or based on said voltage difference U ij Determining the current deviation party of the unmanned aerial vehicle for negative numbersAnd controlling the unmanned aerial vehicle to move towards the position of the jth receiving coil by one step according to the set step length, and then returning to execute the step S101 again.
In practical applications, it is assumed that the threshold range is-2V to 2V and two voltage difference values out of the 6 voltage difference values mentioned in step S102 do not fall within the threshold range, which are U respectively 13 ＝-3V、U 24 =4V, first, the voltage difference U is extracted from the voltage difference values in a predetermined arrangement order 13 (ii) a Based on the voltage difference U 13 The unmanned aerial vehicle is controlled to move one step towards the position of the receiving coil Ls3 according to the set step length, and the voltage difference value U is aimed at 24 And (4) not simultaneously processing to enable the position adjustment to be orderly and controllable, and returning to execute the step (S101) again to perform voltage query detection after the position adjustment.
S105, controlling the unmanned aerial vehicle to land on the wireless charging platform on the spot.
In the embodiment of the invention, the voltage signals sensed by the receiving coils arranged on the charging coupling mechanism are monitored in real time and subjected to rationality prejudgment, so that the landing position of the unmanned aerial vehicle can be adjusted in time, the situation of position deviation when the unmanned aerial vehicle lands can be greatly improved, the wireless charging efficiency of the unmanned aerial vehicle is effectively improved, the energy loss is reduced, and the charging time is shortened.
On the basis of the circuit of the charging coupling mechanism, fig. 3 shows a schematic structural diagram of an unmanned aerial vehicle descent precision adjustment system based on the charging coupling mechanism in the embodiment of the present invention.
As shown in fig. 3, an unmanned aerial vehicle descending accuracy adjusting system based on a charging coupling mechanism includes the following:
the voltage acquisition module 201 is configured to acquire the electric energy transmitted by the transmitting coil based on the N receiving coils, and acquire a voltage signal induced on each receiving coil of the N receiving coils;
the specific implementation process comprises the following steps: according to the specific circuit diagram of the charging coupling mechanism shown in fig. 1, when nobody isWhen the linear distance between the wireless charging platform and the machine is within a specific range, the wireless charging platform starts an internal primary side discharging circuit structure, so that the transmitting coil Lp1 starts to perform wireless discharging. On the basis, the unmanned aerial vehicle starts a measuring program to acquire the voltage signal U sensed on the receiving coil Ls1 1 And a voltage signal U induced on the receiving coil Ls2 2 Receiving voltage signal U induced on coil Ls3 3 And the voltage signal U sensed on the receiving coil Ls4 4 。
A difference value statistic module 202, configured to calculate a voltage difference value between every two receiving coils of the N receiving coils, and compare the calculated voltage difference values
Figure BDA0002962524370000081
Carrying out statistical sorting on the voltage difference values;
in the specific implementation process, 6 can be obtained by pairwise difference operation (namely 6 is obtained by pairwise difference operation
Figure BDA0002962524370000082
Figure BDA0002962524370000083
) The voltage differences are: a voltage difference value U between the receiving coil Ls1 and the receiving coil Ls2 12 A voltage difference U between the receiving coil Ls2 and the receiving coil Ls3 23 The voltage difference U between said receiving coil Ls3 and said receiving coil Ls4 34 The voltage difference U between said receiving coil Ls1 and said receiving coil Ls3 13 A voltage difference U between the receiving coil Ls2 and the receiving coil Ls4 24 The voltage difference U between said receiving coil Ls1 and said receiving coil Ls4 14 (ii) a And then, sequencing the 6 voltage difference values according to the sequence of the bottom marks from small to large as follows: u shape 12 →U 13 →U 14 →U 23 →U 24 →U 34 。
A threshold judging module 203 for judging the above
Figure BDA0002962524370000084
Whether at least one voltage difference value does not fall within the threshold range exists in the voltage difference values;
in the specific implementation process, firstly, the central positions of the transmitting coils Lp1 finally aligned with the four receiving coils Ls1 to Ls4 are taken as reference conditions, and the central positions are set for checking the central positions through repeated experiments in advance
Figure BDA0002962524370000085
A threshold range of voltage difference rationality; then, determining the
Figure BDA0002962524370000086
Whether at least one voltage difference value does not fall within the threshold range exists in the voltage difference values, and the corresponding judgment result is as follows: if at least one voltage difference value does not fall within the threshold range, continuing to operate the position adjustment module 204; if each voltage difference value falls within the threshold range, the jump operation drop control module 205 is executed.
A position adjusting module 204, configured to determine that at least one voltage difference value does not fall within a threshold range, and then adjust the position of the voltage difference value according to the determined voltage difference value
Figure BDA0002962524370000087
The judgment result of each voltage difference value controls the unmanned aerial vehicle to carry out adaptive position adjustment; further, the position adjustment module 204 includes:
a difference value screening unit for recording the difference value
Figure BDA0002962524370000088
M voltage difference values which do not fall within the threshold range are extracted from the voltage difference values, and a voltage difference value U arranged at the forefront is extracted from the M voltage difference values according to a given arrangement sequence ij (i is more than or equal to 1 and less than or equal to N, j is more than or equal to 1 and less than or equal to N, and i is not equal to j);
a mobile control unit for controlling the voltage difference U ij Determining the current offset direction of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to face the current offset direction according to a set step lengthThe moving direction is moved by one step.
In particular, based on the voltage difference U ij If the current offset direction of the unmanned aerial vehicle is positive, determining that the current offset direction of the unmanned aerial vehicle faces the position of the ith receiving coil, controlling the unmanned aerial vehicle to move one step towards the position of the ith receiving coil according to a set step length, and returning to operate the voltage acquisition module 201 again; or based on said voltage difference U ij And determining that the current offset direction of the unmanned aerial vehicle is towards the position of the jth receiving coil, controlling the unmanned aerial vehicle to move one step towards the position of the jth receiving coil according to a set step length, and returning to operate the voltage acquisition module 201 again.
In practical applications, it is assumed that the threshold range is-2V to 2V and that two voltage differences out of the 6 voltage differences mentioned in the difference statistics module 202 do not fall within the threshold range, which are U respectively 13 ＝-3V、U 24 =4V, first extracting the voltage difference U from the predetermined arrangement order 13 (ii) a Based on the voltage difference U 13 The unmanned aerial vehicle is controlled to move one step towards the position of the receiving coil Ls3 according to a set step length, wherein the step length is negative, and the voltage difference value U is aimed at 24 And the voltage acquisition module 201 is returned to operate again to perform voltage query detection after the position adjustment.
And the landing control module 205 is used for controlling the unmanned aerial vehicle to land on the wireless charging platform on the spot after each voltage difference value is judged to fall within the threshold range.
In the embodiment of the invention, the voltage signals sensed by the receiving coils arranged on the charging coupling mechanism are monitored in real time and subjected to rationality prejudgment, so that the landing position of the unmanned aerial vehicle can be adjusted in time, the situation of position deviation when the unmanned aerial vehicle lands can be greatly improved, the wireless charging efficiency of the unmanned aerial vehicle is effectively improved, the energy loss is reduced, and the charging time is shortened.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, and the like.
The unmanned aerial vehicle descent precision adjustment method and system based on the charging coupling mechanism provided by the embodiment of the invention are described in detail, a specific example is adopted in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (4)

1. The unmanned aerial vehicle descending accuracy adjusting method based on the charging coupling mechanism is characterized in that the charging coupling mechanism comprises a primary side discharging circuit structure arranged inside a wireless charging platform and a secondary side charging circuit structure arranged inside the unmanned aerial vehicle, the primary side discharging circuit structure is provided with a transmitting coil, the secondary side charging circuit structure is provided with N receiving coils, the N receiving coils are in a central symmetry mode, a cylindrical magnetic core is arranged in a solenoid of each receiving coil in the N receiving coils, the N receiving coils are connected in series, and the adjusting method comprises the following steps:
acquiring voltage signals induced on each receiving coil in the N receiving coils based on the electric energy transmitted by the transmitting coil acquired by the N receiving coils;
calculating the voltage difference between every two receiving coils in the N receiving coils, and comparing the calculated voltage difference
Figure FDA0003950332180000011
Carrying out statistical sorting on the voltage difference values;
judging that
Figure FDA0003950332180000012
Whether at least one voltage difference value does not fall within a threshold range exists in the voltage difference values;
if yes, according to the comparison
Figure FDA0003950332180000013
The unmanned aerial vehicle is controlled by the judgment result of each voltage difference value to carry out adaptive position adjustment, and then voltage signals induced on each receiving coil in the N receiving coils are collected in a returning mode, and the voltage signals are collected according to the voltage difference values
Figure FDA0003950332180000014
The judging result of each voltage difference value controls the unmanned aerial vehicle to carry out adaptive position adjustment, and the adaptive position adjustment comprises the following steps: record the said
Figure FDA0003950332180000015
M voltage difference values which do not fall within the threshold range in the voltage difference values are extracted, and a voltage difference value U arranged at the forefront is extracted from the M voltage difference values according to a preset arrangement sequence ij (i is more than or equal to 1 and less than or equal to N, j is more than or equal to 1 and less than or equal to N, and i is not equal to j); according to the voltage difference value U ij Determining the current offset direction of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to move one step towards the current offset direction according to a set step length;
if not, the unmanned aerial vehicle is controlled to land on the spot on the wireless charging platform.
2. The unmanned aerial vehicle descending accuracy adjusting method based on charging coupling mechanism according to claim 1, wherein the descending accuracy adjusting method is based on the voltage difference value U ij Determining a current offset direction of the drone includes:
based on the voltage difference value U ij If the current offset direction of the unmanned aerial vehicle is positive, determining that the current offset direction of the unmanned aerial vehicle faces the position of the ith receiving coil;
based on the voltage difference value U ij And determining the current offset direction of the unmanned aerial vehicle as the position of the jth receiving coil, wherein the current offset direction is negative.
3. The utility model provides an unmanned aerial vehicle descends precision adjustment system based on coupling mechanism charges, its characterized in that, coupling mechanism charges including setting up at the inside former limit discharge circuit structure of wireless charging platform and setting up at the inside secondary charging circuit structure of unmanned aerial vehicle, former limit discharge circuit structure is provided with a transmitting coil, secondary charging circuit structure is provided with a N receiving coil, just a N receiving coil adopts the series system to connect, adjustment system includes:
the voltage acquisition module is used for acquiring voltage signals induced on each receiving coil in the N receiving coils based on the electric energy transmitted by the transmitting coil acquired by the N receiving coils;
a difference value statistic module for calculating the voltage difference value between every two receiving coils in the N receiving coils and comparing the calculated voltage difference values
Figure FDA0003950332180000021
Carrying out statistical sorting on the voltage difference values;
a threshold judging module for judging the threshold
Figure FDA0003950332180000022
Whether at least one voltage difference value does not fall within the threshold range exists in the voltage difference values;
a position adjusting module for judging whether at least one voltage difference value is within the threshold range or not, and then adjusting the position according to the voltage difference value
Figure FDA0003950332180000023
The judging result of each voltage difference value controls the unmanned aerial vehicle to carry out adaptive position adjustment and then return to operate the voltage acquisition module, and the position adjustment module comprises: a difference value screening unit for recording the difference value
Figure FDA0003950332180000024
M voltage difference values which do not fall within the threshold range are extracted from the voltage difference values, and a voltage difference value U arranged at the forefront is extracted from the M voltage difference values according to a given arrangement sequence ij (i is more than or equal to 1 and less than or equal to N, j is more than or equal to 1 and less than or equal to N, and i is not equal to j); a mobile control unit for controlling the voltage difference U according to the voltage difference ij Determining the current offset direction of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to move one step towards the current offset direction according to a set step length;
and the landing control module is used for controlling the unmanned aerial vehicle to land on the wireless charging platform on the spot after each voltage difference value is judged to fall within the threshold range.
4. The unmanned aerial vehicle descent accuracy adjustment system based on charging coupling mechanism of claim 3, wherein the mobile control unit is configured to adjust the unmanned aerial vehicle descent accuracy based on the voltage difference U ij If the current offset direction of the unmanned aerial vehicle is positive, determining that the current offset direction of the unmanned aerial vehicle faces the position of the ith receiving coil; or based on said voltage difference U ij And determining the current offset direction of the unmanned aerial vehicle as the position of the jth receiving coil, wherein the current offset direction is negative.
CN202110241936.3A 2021-03-04 2021-03-04 Unmanned aerial vehicle descending precision adjusting method and system based on charging coupling mechanism Active CN113085596B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110241936.3A CN113085596B (en) 2021-03-04 2021-03-04 Unmanned aerial vehicle descending precision adjusting method and system based on charging coupling mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110241936.3A CN113085596B (en) 2021-03-04 2021-03-04 Unmanned aerial vehicle descending precision adjusting method and system based on charging coupling mechanism

Publications (2)

Publication Number Publication Date
CN113085596A CN113085596A (en) 2021-07-09
CN113085596B true CN113085596B (en) 2023-01-24

Family

ID=76666794

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110241936.3A Active CN113085596B (en) 2021-03-04 2021-03-04 Unmanned aerial vehicle descending precision adjusting method and system based on charging coupling mechanism

Country Status (1)

Country Link
CN (1) CN113085596B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113671995B (en) * 2021-09-23 2023-08-22 广西电网有限责任公司电力科学研究院 Unmanned aerial vehicle landing precision adjusting method and system based on wireless charging coupling mechanism

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190109331A (en) * 2019-09-04 2019-09-25 엘지전자 주식회사 Method for charging battery of unmanned aerial robot and device for supporting same in unmanned aerial system
CN110855023A (en) * 2020-01-16 2020-02-28 江苏方天电力技术有限公司 Unmanned aerial vehicle multistage receiving type wireless charging system and unmanned aerial vehicle stop guiding method
CN111002846A (en) * 2019-12-13 2020-04-14 王晰 Control method and system of unmanned aerial vehicle
CN112003389A (en) * 2020-09-04 2020-11-27 江苏方天电力技术有限公司 Robot wireless charging rapid positioning system and method based on multi-transmitting coil array

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10784719B2 (en) * 2017-01-13 2020-09-22 Intel Corporation Wirelessly powered unmanned aerial vehicles and tracks for providing wireless power

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190109331A (en) * 2019-09-04 2019-09-25 엘지전자 주식회사 Method for charging battery of unmanned aerial robot and device for supporting same in unmanned aerial system
CN111002846A (en) * 2019-12-13 2020-04-14 王晰 Control method and system of unmanned aerial vehicle
CN110855023A (en) * 2020-01-16 2020-02-28 江苏方天电力技术有限公司 Unmanned aerial vehicle multistage receiving type wireless charging system and unmanned aerial vehicle stop guiding method
CN112003389A (en) * 2020-09-04 2020-11-27 江苏方天电力技术有限公司 Robot wireless charging rapid positioning system and method based on multi-transmitting coil array

Also Published As

Publication number Publication date
CN113085596A (en) 2021-07-09

Similar Documents

Publication Publication Date Title
CN104795857B (en) The implementation method of lithium ion battery balancing energy
CN102468673B (en) Switching circuit, system and method for balancing battery cells
EP2787600B1 (en) Non-contact charging device and non-contact charging method
CN103633695B (en) A kind of lithium battery group equalization methods of improvement and equalizing circuit thereof
CN103066641A (en) Optimized bi-directional balancing method and system
CN106712182B (en) Power battery pack active equalization control strategy based on Depth Priority Algorithm
CN106100149A (en) Wireless charging system and wireless charging method
CN113085596B (en) Unmanned aerial vehicle descending precision adjusting method and system based on charging coupling mechanism
CN109159682A (en) A kind of unmanned plane wireless charging system of magnetic resonance type
CN105406563A (en) Segmented transmitter coil switching method for dynamic wireless power supply system of electrical vehicle
CN105356533B (en) A kind of active equalization method of battery pack
CN111628535A (en) Battery module balance control method and device
CN112217243B (en) Inter-module balancing method, device and equipment based on bidirectional active balancing
CN115481526B (en) Double-solenoid EV-DWPT system and parameter optimization method thereof
CN114696412A (en) Battery energy storage system SOC balance control system, method and device and storage medium
CN102967831A (en) On-line detection system and detection method of lead-acid storage battery performance
CN206685499U (en) A kind of energy-storage battery group diagnosis and maintenance system
CN105490335A (en) Long-service-life direct current system and implementation method
CN110865656A (en) Unmanned aerial vehicle centering system based on mutual inductance detection and control method thereof
Rajalakshmi et al. Intelligent hybrid battery management system for electric vehicle
CN101924385B (en) Full-automatic intelligent charger
CN112152286A (en) Active equalization device and method for series lithium ion capacitor system
See et al. Charge-based self-equalization for imbalance battery pack in an energy storage management system: developing a time-based equalization algorithm
CN111766525A (en) Method for measuring charge capacity of lithium iron phosphate battery and charging method
CN113671995B (en) Unmanned aerial vehicle landing precision adjusting method and system based on wireless charging coupling mechanism

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant