CN113246778A - Unmanned aerial vehicle wireless charging system and charging method - Google Patents
Unmanned aerial vehicle wireless charging system and charging method Download PDFInfo
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- CN113246778A CN113246778A CN202110563023.3A CN202110563023A CN113246778A CN 113246778 A CN113246778 A CN 113246778A CN 202110563023 A CN202110563023 A CN 202110563023A CN 113246778 A CN113246778 A CN 113246778A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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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
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02T90/12—Electric charging stations
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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
Abstract
The invention belongs to the technical field of wireless power transmission, and discloses a wireless charging system and a charging method for an unmanned aerial vehicle. The position through the charging platform detects coil array and emission module and obtains unmanned aerial vehicle's secondary coil's coordinate information, moves the primary coil of the platform that charges to under the secondary coil through the removal subassembly of charging platform, discharges through emission module control primary coil, realizes wirelessly charging to unmanned aerial vehicle. The invention solves the problems of lower charging efficiency, higher energy consumption and higher cost of the wireless charging device of the unmanned aerial vehicle in the prior art, and has the advantages of accurate fixed-point charging, less energy consumption and low magnetic radiation.
Description
Technical Field
The invention belongs to the technical field of wireless power transmission, and particularly relates to an unmanned aerial vehicle wireless charging system and a charging method.
Background
The wireless charging technology is derived from a wireless electric energy transmission technology, and because the charger and the electric equipment transmit energy through a magnetic field and are not connected through a wire, the charger and the electric equipment can be exposed without a wire contact. The existing wireless charging technology is mainly applied to the field of low-power charging of mobile phones, tablets, notebooks and the like.
Unmanned aerial vehicle wireless charging can reduce the unmanned aerial vehicle battery package, and then reduces unmanned aerial vehicle quality, improves duration. However, the unmanned aerial vehicle landing error causes the deviation of the primary coil and the secondary coil, so that the coupling coefficient between the primary coil and the secondary coil is changed, and the wireless charging efficiency is reduced; meanwhile, the larger transmitting end brings high cost of winding and unnecessary electric energy loss during charging.
Disclosure of Invention
The invention provides a wireless charging system and a charging method for an unmanned aerial vehicle, and solves the problems of low charging efficiency, high energy consumption and high cost of a wireless charging device for the unmanned aerial vehicle in the prior art.
The invention provides an unmanned aerial vehicle wireless charging system, which comprises: an unmanned aerial vehicle and a charging platform;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a receiving module; the receiving module is installed at the bottom of the unmanned aerial vehicle body and comprises a secondary coil;
the charging platform comprises a platform shell, an emission module, a position detection coil array and a power supply; the transmitting module, the position detection coil array and the power supply are all arranged inside the platform shell; the transmitting module comprises a primary coil, a moving assembly and a transmitting end control circuit; the primary coil is movably mounted on the moving assembly; the position detection coil array is arranged on the inner surface of the platform shell and is arranged between the primary coil and the secondary coil;
the power supply is electrically connected with the position detection coil array, the coordinate information of the secondary coil is obtained through the position detection coil array and the transmitting end control circuit, the primary coil is moved to the position under the secondary coil through the moving assembly, and the primary coil is controlled to discharge through the transmitting end control circuit.
Preferably, the transmitting end control circuit comprises a transmitting end compensation circuit, an inverter circuit, a controller and a current acquisition circuit;
the position detection coil array consists of a plurality of detection coils, and the power supply is electrically connected with each detection coil and is electrified with current; the current acquisition circuit is used for acquiring detection current information output by the position detection coil array and transmitting the detection current information to the controller; the controller is used for obtaining coordinate information of the secondary coil according to the detection current information and converting the coordinate information into a movement driving signal of the moving assembly; the moving component drives the primary coil to move to a position coaxially aligned with the secondary coil according to the moving driving signal;
the controller controls direct current meeting the charging requirement to be input into the inverter circuit; the inverter circuit converts the direct current into high-frequency alternating current and inputs the high-frequency alternating current to the transmitting end compensation circuit; the transmitting end compensation circuit loads high-frequency alternating current to the primary coil, and the primary coil converts the high-frequency alternating current into electromagnetic waves for transmission.
Preferably, the moving assembly comprises a stepping motor, an XY-axis slide rail, a belt, a slide block and a gear;
the primary coil is fixed on the sliding block, the sliding block is movably mounted on the XY-axis sliding rail, the XY-axis sliding rail is fixed on the platform shell, stepping motors are mounted on the XY-axis sliding rail in the X-axis direction and the Y-axis direction, the stepping motors are electrically connected with the controller, the stepping motors are connected with the gear, and the gear is connected with the belt;
the stepping motor drives the gear to rotate after receiving a movement driving signal from the controller, and then the rotation of the gear is converted into the linear motion of the belt, so that the primary coil moves to a charging position corresponding to the control signal.
Preferably, the receiving module further includes: a receiving end control circuit; the receiving end control circuit comprises a receiving end compensation circuit, a rectifying circuit and a filter circuit;
the receiving end compensation circuit is used for enabling the natural frequency of the secondary coil to reach the working frequency of the unmanned aerial vehicle wireless charging system; the rectifying circuit is used for rectifying; the filter circuit is used for eliminating rectified ripples.
Preferably, the receiving module further includes: a receiving end communication circuit; the transmission module further includes: a transmitting end communication circuit;
the receiving end communication circuit is used for sending charging demand information to the charging platform; the transmitting terminal communication circuit is used for receiving the charging demand information from the unmanned aerial vehicle.
Preferably, the drone further comprises: a charge controller and a battery; the charging controller is respectively connected with the battery and the receiving module;
the charging controller is used for sending the charging demand information to the charging platform through the receiving end communication circuit, and the charging controller is used for monitoring the electric quantity of the battery.
Preferably, the platform shell is made of an insulating material, and the platform shell is provided with heat dissipation holes; the primary coil and the secondary coil are both wound by high-frequency Litz wires and are both wrapped by insulating materials.
On the other hand, the invention provides an unmanned aerial vehicle wireless charging method, which is realized by adopting the unmanned aerial vehicle wireless charging system, and the method comprises the following steps: obtaining coordinate information of a secondary coil of the unmanned aerial vehicle through a position detection coil array and a transmitting module of the charging platform; moving a primary coil of the charging platform directly below the secondary coil by a moving component of the charging platform; through emission module control the primary coil discharges, realizes right unmanned aerial vehicle's wireless charging.
Preferably, the specific implementation manner of obtaining the coordinate information of the secondary coil of the unmanned aerial vehicle is as follows:
electrically connecting a power supply of the charging platform with each detection coil forming the position detection coil array, and supplying current;
under the condition that no unmanned aerial vehicle lands on the charging platform, detecting current information output by the position detecting coil array is obtained through a current collecting circuit in a transmitting end control circuit, the current value of each detecting coil is the same and is recorded as a first current value, and the first current value is stored in a controller in the transmitting end control circuit;
under the condition that the unmanned aerial vehicle is monitored to fall on the charging platform, detection current information output by the position detection coil array is obtained through the current acquisition circuit, the current value of each detection coil is compared with the first current value through the controller, a detection coil corresponding to the minimum detection current value is obtained, and the detection coil is marked as a first coil;
the position of the first coil corresponds to the position of the secondary coil, and the controller obtains the coordinate information of the secondary coil according to the coordinate information of the first coil.
Preferably, the wireless charging method for the unmanned aerial vehicle comprises the following steps:
step 1, a charging platform monitors whether an unmanned aerial vehicle to be charged in a wireless charging system exists or not; if yes, entering a detection stage, and turning to the step 2; if not, continuing to be in a waiting stage;
step 3, the transmitting module judges whether the received data packet information is correct; if the unmanned aerial vehicle is correct, identifying the identity of the unmanned aerial vehicle, configuring an electric energy transmission environment, entering an electric energy transmission stage, and turning to the step 4; if the error or the recognition is not available, returning to the waiting stage, and turning to the step 1;
step 4, the transmitting module modulates and corrects the charging parameters according to the data packet information, and monitors and judges whether each constraint condition of the electric energy transmission exceeds the constraint requirement of the data packet information; if not, wireless charging is carried out; and if the voltage exceeds the preset value, stopping power supply, returning to the waiting stage, and turning to the step 1.
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
in the invention, the position of the charging platform is used for detecting the coordinate information of the secondary coil of the unmanned aerial vehicle, the transmitting module is used for obtaining the coordinate information of the secondary coil of the unmanned aerial vehicle, the moving assembly of the charging platform is used for moving the primary coil of the charging platform to the position right below the secondary coil, and the transmitting module is used for controlling the primary coil to discharge so as to realize wireless charging of the unmanned aerial vehicle. The transmitting terminal can move, can realize accurate positioning wireless charging, can reduce the size of the primary coil, and has the advantages of accurate fixed-point charging, low energy consumption and low magnetic radiation.
Drawings
Fig. 1 is a schematic structural diagram of a wireless charging system for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle in the wireless charging system for an unmanned aerial vehicle according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of an XY axis slide rail in the wireless charging system of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a position detection coil array in the wireless charging system of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 5 is a flowchart of a wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 6 is a flowchart of obtaining secondary coil coordinates in the wireless charging method for the unmanned aerial vehicle according to the embodiment of the present invention.
Wherein, 1-unmanned aerial vehicle, 2-charging platform;
11-battery, 12-receiving module;
21-a primary coil;
221-stepping motor, 222-XY axis slide rail, 223-belt, 224-slide block and 225-gear.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example 1:
embodiment 1 provides a wireless charging system of unmanned aerial vehicle, refer to fig. 1 to 3, include: an unmanned aerial vehicle 1 and a charging platform 2; the unmanned aerial vehicle 1 comprises an unmanned aerial vehicle body and a receiving module 12; the receiving module 12 is installed at the bottom of the unmanned aerial vehicle body, and the receiving module 12 comprises a secondary coil; the charging platform 2 comprises a platform shell, an emission module, a position detection coil array and a power supply; the transmitting module, the position detection coil array and the power supply are all arranged inside the platform shell; the transmitting module comprises a primary coil 21, a moving assembly and a transmitting end control circuit; the primary coil 21 is movably mounted on the moving assembly; the position detection coil array is arranged on the inner surface of the platform shell and is arranged between the primary coil 21 and the secondary coil; the power supply is electrically connected with the position detection coil array, the coordinate information of the secondary coil is obtained through the position detection coil array and the transmitting end control circuit, the primary coil 21 is moved to the position under the secondary coil through the moving assembly, and the primary coil 21 is controlled to discharge through the transmitting end control circuit.
The transmitting end control circuit comprises a transmitting end compensation circuit, an inverter circuit, a controller and a current acquisition circuit; referring to fig. 4, the position detection coil array is composed of a plurality of detection coils, and the power supply is electrically connected to each of the detection coils and is supplied with current; the current acquisition circuit is used for acquiring detection current information output by the position detection coil array and transmitting the detection current information to the controller; the controller is used for obtaining coordinate information of the secondary coil according to the detection current information and converting the coordinate information into a movement driving signal of the moving assembly; the moving component drives the primary coil to move to a position coaxially aligned with the secondary coil according to the moving driving signal; the controller controls direct current meeting the charging requirement to be input into the inverter circuit; the inverter circuit converts the direct current into high-frequency alternating current and inputs the high-frequency alternating current to the transmitting end compensation circuit; the transmitting end compensation circuit loads high-frequency alternating current to the primary coil, and the primary coil converts the high-frequency alternating current into electromagnetic waves for transmission.
Referring to fig. 3, the moving assembly includes a stepping motor 221, an XY-axis slide 222, a belt 223, a slider 224, and a gear 225; the primary coil 21 is fixed on the slider 224, the slider 224 is movably mounted on the XY-axis slide rail 222, the XY-axis slide rail 222 is fixed on the platform housing, the XY-axis slide rail 222 is provided with a stepping motor 221 in both the X-axis direction and the Y-axis direction, the stepping motor 221 is electrically connected with the controller, the stepping motor 221 is connected with the gear 225, and the gear 225 is connected with the belt 223; the stepping motor 221 drives the gear 225 to rotate after receiving the movement driving signal from the controller, and then the rotation of the gear 225 is converted into the linear motion of the belt 223, so that the primary coil 21 moves to the charging position corresponding to the control signal.
In addition, the receiving module further includes: a receiving end control circuit; the receiving end control circuit comprises a receiving end compensation circuit, a rectifying circuit and a filter circuit; the receiving end compensation circuit is used for enabling the natural frequency of the secondary coil to reach the working frequency of the unmanned aerial vehicle wireless charging system; the rectifying circuit is used for rectifying; the filter circuit is used for eliminating rectified ripples.
The receiving module further comprises: a receiving end communication circuit; the transmission module further includes: a transmitting end communication circuit; the receiving end communication circuit is used for sending charging demand information to the charging platform; the transmitting terminal communication circuit is used for receiving the charging demand information from the unmanned aerial vehicle.
The unmanned aerial vehicle still includes: a charge controller and battery 11; the charging controller is respectively connected with the battery 11 and the receiving module; the charging controller is used for sending the charging demand information to the charging platform through the receiving end communication circuit, and the charging controller is used for monitoring the electric quantity of the battery 11.
The platform shell is made of an insulating material, and heat dissipation holes are formed in the platform shell; the primary coil 21 and the secondary coil are both wound by high-frequency Litz wires, and the primary coil 21 and the secondary coil are both wrapped by insulating materials.
Example 2:
The specific implementation manner of obtaining the coordinate information of the secondary coil of the unmanned aerial vehicle is as follows: electrically connecting a power supply of the charging platform with each detection coil forming the position detection coil array, and supplying current; under the condition that no unmanned aerial vehicle lands on the charging platform, detecting current information output by the position detecting coil array is obtained through a current collecting circuit in a transmitting end control circuit, the current value of each detecting coil is the same and is recorded as a first current value, and the first current value is stored in a controller in the transmitting end control circuit; under the condition that the unmanned aerial vehicle is monitored to fall on the charging platform, detection current information output by the position detection coil array is obtained through the current acquisition circuit, the current value of each detection coil is compared with the first current value through the controller, a detection coil corresponding to the minimum detection current value is obtained, and the detection coil is marked as a first coil; the position of the first coil corresponds to the position of the secondary coil, and the controller obtains the coordinate information of the secondary coil according to the coordinate information of the first coil, as shown in fig. 6.
Specifically, the wireless charging method for the unmanned aerial vehicle provided by the invention, referring to fig. 5, comprises the following steps:
step 1, a charging platform monitors whether an unmanned aerial vehicle to be charged in a wireless charging system exists or not; if yes, entering a detection stage, and turning to the step 2; if not, continuing to be in a waiting stage;
step 3, the transmitting module judges whether the received data packet information is correct; if the unmanned aerial vehicle is correct, identifying the identity of the unmanned aerial vehicle, configuring an electric energy transmission environment, entering an electric energy transmission stage, and turning to the step 4; if the error or the recognition is not available, returning to the waiting stage, and turning to the step 1;
step 4, the transmitting module modulates and corrects the charging parameters according to the data packet information, and monitors and judges whether each constraint condition of the electric energy transmission exceeds the constraint requirement of the data packet information; if not, wireless charging is carried out; and if the voltage exceeds the preset value, stopping power supply, returning to the waiting stage, and turning to the step 1.
The present invention is further described below.
The invention provides a wireless charging system of an unmanned aerial vehicle with a movable transmitting end and a position detection function, which comprises: unmanned aerial vehicle and charging platform two parts. The charging platform can realize accurate positioning charging and can also be used as an unmanned aerial vehicle parking platform.
The unmanned aerial vehicle is equipped with receiving module, charge controller and battery on, charge platform includes platform casing (promptly apron shell or descending and accept the face), emission module, position detection coil array, power supply.
The receiving module includes: the secondary coil, the receiving end control circuit and the receiving end communication circuit; the transmitting module includes: the device comprises a primary coil, a moving assembly, a transmitting terminal control circuit and a transmitting terminal communication circuit.
Receiving module fixes in unmanned aerial vehicle body bottom, and towards the charging platform and parallel with emission module, set up like this and can avoid the influence of wireless charging in-process angular migration to charge efficiency. Meanwhile, a secondary coil of the receiving module (namely the receiving end) is wrapped by an insulating material, so that the coils can be prevented from being corroded by silt, rainwater and the like.
The moving assembly includes: the device comprises a stepping motor, an XY-axis sliding rail, a belt, a sliding block and a gear; the moving assembly is integrally fixed inside the platform shell.
The primary coil is fixed on the sliding block and moves on the XY-axis sliding rail through the sliding block; the platform shell covers the emission module and the position detection coil array; the position detection coil array is attached to the inner surface of the platform shell and is arranged between the primary coil and the secondary coil.
The receiving end control circuit includes: the receiving end compensation circuit, the rectification circuit and the filter circuit. The receiving end compensation circuit is composed of a capacitor and is matched with the inductance of the secondary coil, so that the natural frequency of the receiving end compensation circuit reaches the working frequency of the system; the rectification circuit adopts uncontrolled full-bridge rectification and consists of four diodes; and the filter circuit selects an RC oscillating circuit for eliminating rectified ripples.
The transmitting end control circuit includes: the device comprises a transmitting end compensation circuit, an inverter circuit, a controller and a current acquisition circuit; the current acquisition circuit acquires detection current information output by the position detection coil array and transmits the detection current information to the controller; the controller obtains coordinate information of the secondary coil according to the detection current information and converts the coordinate information into a movement driving signal of the moving assembly; the controller controls direct current meeting the charging requirement to be input into the inverter circuit; the inverter circuit converts the direct current into high-frequency alternating current and inputs the high-frequency alternating current to the transmitting end compensation circuit; the transmitting end compensation circuit loads high-frequency alternating current to the primary coil, and the primary coil converts the high-frequency alternating current into electromagnetic waves for transmission.
The platform shell of the charging platform covers the moving assembly and the primary coil, so that the primary coil cannot be directly exposed outside, the bearing surface is made of insulating materials, and the primary coil is also wrapped by the insulating materials, so that damage of dust and rainwater can be prevented.
The XY-axis slide rail is fixed in the charging platform and forms a whole with the charging platform, so that the position error caused by vibration generated by the movement of the stepping motor can be prevented. Two stepping motors are installed at two ends of the XY-axis sliding rail, the stepping motors receive signals of the controller to drive the gears connected with the stepping motors to rotate, and then the rotation of the gears is converted into the linear motion of the belt, so that the primary coil moves to an ideal charging position on the XY-axis sliding rail.
The work of step motor and the wireless process of charging can produce the heat, in order to reach radiating effect the side of platform shell has set up the heat dissipation square hole of symmetric distribution, and the louvre of symmetry is favorable to forming the convection current to improve radiating effect, promote the heat dissipation of wireless charging system.
The working principle of the invention is as follows: an array of a plurality of detection coils is formed as a position detection coil array by using the principle of magnetic induction. The power supply is connected with the position detection coil array, the position detection coil array is electrified with very small current, when no unmanned aerial vehicle lands on the charging platform, the current value of each detection coil is the same, and the current values are recorded and stored in the controller to serve as subsequent reference values. When the unmanned aerial vehicle lands on the charging platform, the magnetic coupling coefficient between the secondary coil at the unmanned aerial vehicle end and the detection coil at the charging platform end can change, and the current magnitude of the detection coil can also change accordingly. Research results show that the current value of the detection coil below the receiving end of the unmanned aerial vehicle is reduced. Therefore, the landing position of the unmanned aerial vehicle can be judged by comparing the original reference current value, and the relative position of the unmanned aerial vehicle on the charging platform is acquired through the position detection coil array. When a secondary coil is close to the unmanned aerial vehicle, the current values of the detection coils at different positions in the position detection coil array change, and the position of the secondary coil on the unmanned aerial vehicle is judged according to the current values. After the determined position is obtained, the coordinate position is switched on by the stepping motor through the controller, and the primary coil is moved to be right below the secondary coil.
Specifically, the position detection coil array is composed of a plurality of identical copper coils, and can be printed on a PCB and mounted on the inner surface of the charging platform. The power supply is connected with each coil in the position detection coil array, current is supplied to each branch corresponding to the position detection coil array, the current sampling circuit is used for collecting the current output by the position detection coil array and transmitting the current to the controller, the controller obtains a plurality of groups of current signals of the position detection coil array, compares the current values, finds a single detection coil with the minimum current value, and then coordinates of a secondary coil of the unmanned aerial vehicle can be obtained, and position detection is achieved; the controller then converts the detected coordinates of the secondary coil into a drive signal for the stepper motor to drive the primary coil to move until coaxially aligned with the secondary coil.
The controller controls direct current meeting the charging requirement to be input into the inverter circuit, the inverter circuit converts the direct current into high-frequency alternating current and inputs the high-frequency alternating current into the transmitting end compensation circuit, the high-frequency alternating current is loaded to the primary coil through the transmitting end compensation circuit, and the primary coil converts the high-frequency alternating current into electromagnetic waves for discharging.
The primary coil and the secondary coil are both wound by high-frequency Litz wires, so that the skin effect of current can be avoided.
The compensation inductor and the capacitor form a transmitting end compensation circuit and a receiving end compensation circuit. A composite compensation circuit may also be constructed by a combination of multiple inductors and capacitors. Through setting up transmitting terminal compensating circuit and receiving terminal compensating circuit, wireless charging system can work in resonance state, realizes electric energy wireless transmission. The arrangement of the compensation circuit can compensate the reactive power in the power circuit, and the working efficiency of system charging is improved.
In the invention, the charging process of the unmanned aerial vehicle is as shown in fig. 5, and the charging process is as follows:
the start phase is a wait phase. The function of this stage is to monitor whether the wireless charging system has a device to be charged. And the control chip of the transmitting end transmits pulse energy signals at intervals and simultaneously monitors the current value at the primary coil. Judging whether the current value at the primary coil is equal to a prestored maximum current value or not, if so, carrying out no-load on the surface of the transmitting end, and continuing to wait; if the current value of the primary coil obtained by monitoring is reduced, the equipment to be charged in the wireless charging system enters a Ping stage (detection stage).
Entering a Ping stage: the transmitting end of the wireless charging system transmits pulse energy to the receiving end, and the transmitting end control chip judges whether the transmitting end obtains the response of the receiving end. If the transmitting end obtains the response of the receiving end, the transmitting end continues to transmit energy and enters the stage of identification and configuration. If the transmitting end fails to obtain the response of the receiving end, the transmitting end returns to the waiting stage.
Identification and configuration phase: the function of this stage is to identify the receiving end and configure the wireless charging environment. The transmitting terminal control chip judges whether the data packet information received by the transmitting terminal is correct or not. If the data packet information received by the transmitting terminal is correct, the receiving terminal is subjected to identity recognition, the power transmission environment at the moment is configured, the power transmission stage is entered, and if the data packet information received by the transmitting terminal is wrong or cannot be recognized, the waiting stage is entered.
And (3) electric energy transmission stage: the function of this stage is to perform wireless transmission of electric energy according to the requirement of the data packet information returned by the receiving end. In the process of wireless charging, the control chip of the transmitting terminal can modulate and correct the transmitting terminal according to the error information and the like acquired by the receiving terminal, and monitor and judge whether each constraint condition of electric energy transmission exceeds the constraint requirement of the receiving terminal for returning data packet information. If a condition is detected that exceeds the constraint limit, power is immediately terminated and the process returns to the wait stage. And if the constraint requirement of receiving partial return data packet information is not exceeded, performing wireless charging.
In whole charging process, unmanned aerial vehicle's charge controller sends the demand signal that charges to charge platform transmitting terminal controller through wireless communication, including signals such as electric current, voltage to can gather charging current, voltage, monitor battery power. The charging platform adjusts the output of the power supply according to the charging requirement, and controls the parameters of the frequency, the phase and the like of the high-frequency alternating current, so that the whole wireless charging circuit works in a resonance state. And after the unmanned aerial vehicle finishes charging, the receiving end controller sends a charging stopping command to the transmitting end controller of the charging platform, and the charging process is terminated.
In the invention, wireless charging is realized through electromagnetic field coupling, and the receiving module and the transmitting module are made as light and thin as possible, so that the normal flight of the unmanned aerial vehicle is not influenced. When the drone is parked on the charging platform, the distance between the primary and secondary coils is the optimal charging distance obtained experimentally. Because the base height of unmanned aerial vehicle can confirm, can confirm the mounting height of primary coil on the XY axle slide rail according to the best distance of charging.
In the invention, the primary coil can accurately find the position of the secondary coil on the unmanned aerial vehicle body, and accurate positioning charging is realized, so that the design size of the secondary coil can be greatly reduced, thereby reducing the use cost of the Lite wire, the electric energy loss of the wire in the charging process and the magnetic radiation to the surrounding environment. Especially when a metal conductor exists around the charging platform, the loss and the heat generation caused by the eddy current effect generated by the conductor are avoided.
The unmanned aerial vehicle wireless charging system and the charging method provided by the embodiment of the invention at least have the following technical effects:
the transmitting terminal can move, so that accurate positioning wireless charging is realized, the wireless charging efficiency is improved, and meanwhile, the size of the primary coil can be effectively reduced compared with the prior art, so that the winding length is reduced, the size of the primary coil is reduced, and the electric energy loss during charging is reduced. The invention has the advantages of accurate fixed-point charging, less energy consumption and low magnetic radiation.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a wireless charging system of unmanned aerial vehicle which characterized in that includes: an unmanned aerial vehicle and a charging platform;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a receiving module; the receiving module is installed at the bottom of the unmanned aerial vehicle body and comprises a secondary coil;
the charging platform comprises a platform shell, an emission module, a position detection coil array and a power supply; the transmitting module, the position detection coil array and the power supply are all arranged inside the platform shell; the transmitting module comprises a primary coil, a moving assembly and a transmitting end control circuit; the primary coil is movably mounted on the moving assembly; the position detection coil array is arranged on the inner surface of the platform shell and is arranged between the primary coil and the secondary coil;
the power supply is electrically connected with the position detection coil array, the coordinate information of the secondary coil is obtained through the position detection coil array and the transmitting end control circuit, the primary coil is moved to the position under the secondary coil through the moving assembly, and the primary coil is controlled to discharge through the transmitting end control circuit.
2. The unmanned aerial vehicle wireless charging system of claim 1, wherein the transmitting end control circuit comprises a transmitting end compensation circuit, an inverter circuit, a controller and a current acquisition circuit;
the position detection coil array consists of a plurality of detection coils, and the power supply is electrically connected with each detection coil and is electrified with current; the current acquisition circuit is used for acquiring detection current information output by the position detection coil array and transmitting the detection current information to the controller; the controller is used for obtaining coordinate information of the secondary coil according to the detection current information and converting the coordinate information into a movement driving signal of the moving assembly; the moving component drives the primary coil to move to a position coaxially aligned with the secondary coil according to the moving driving signal;
the controller controls direct current meeting the charging requirement to be input into the inverter circuit; the inverter circuit converts the direct current into high-frequency alternating current and inputs the high-frequency alternating current to the transmitting end compensation circuit; the transmitting end compensation circuit loads high-frequency alternating current to the primary coil, and the primary coil converts the high-frequency alternating current into electromagnetic waves for transmission.
3. The unmanned aerial vehicle wireless charging system of claim 2, wherein the moving assembly comprises a stepper motor, an XY-axis slide, a belt, a slider, and a gear;
the primary coil is fixed on the sliding block, the sliding block is movably mounted on the XY-axis sliding rail, the XY-axis sliding rail is fixed on the platform shell, stepping motors are mounted on the XY-axis sliding rail in the X-axis direction and the Y-axis direction, the stepping motors are electrically connected with the controller, the stepping motors are connected with the gear, and the gear is connected with the belt;
the stepping motor drives the gear to rotate after receiving a movement driving signal from the controller, and then the rotation of the gear is converted into the linear motion of the belt, so that the primary coil moves to a charging position corresponding to the control signal.
4. The wireless charging system of unmanned aerial vehicle of claim 1, wherein the receiving module further comprises: a receiving end control circuit; the receiving end control circuit comprises a receiving end compensation circuit, a rectifying circuit and a filter circuit;
the receiving end compensation circuit is used for enabling the natural frequency of the secondary coil to reach the working frequency of the unmanned aerial vehicle wireless charging system; the rectifying circuit is used for rectifying; the filter circuit is used for eliminating rectified ripples.
5. The wireless charging system of unmanned aerial vehicle of claim 1, wherein the receiving module further comprises: a receiving end communication circuit; the transmission module further includes: a transmitting end communication circuit;
the receiving end communication circuit is used for sending charging demand information to the charging platform; the transmitting terminal communication circuit is used for receiving the charging demand information from the unmanned aerial vehicle.
6. The wireless charging system for unmanned aerial vehicles of claim 5, wherein the unmanned aerial vehicle further comprises: a charge controller and a battery; the charging controller is respectively connected with the battery and the receiving module;
the charging controller is used for sending the charging demand information to the charging platform through the receiving end communication circuit, and the charging controller is used for monitoring the electric quantity of the battery.
7. The unmanned aerial vehicle wireless charging system of claim 1, wherein the platform housing is made of an insulating material, and heat dissipation holes are formed in the platform housing; the primary coil and the secondary coil are both wound by high-frequency Litz wires and are both wrapped by insulating materials.
8. A wireless charging method for unmanned aerial vehicles, which is implemented by the wireless charging system for unmanned aerial vehicles according to any one of claims 1-7, and comprises the following steps: obtaining coordinate information of a secondary coil of the unmanned aerial vehicle through a position detection coil array and a transmitting module of the charging platform; moving a primary coil of the charging platform directly below the secondary coil by a moving component of the charging platform; through emission module control the primary coil discharges, realizes right unmanned aerial vehicle's wireless charging.
9. The wireless charging method for the unmanned aerial vehicle according to claim 8, wherein the specific implementation manner of obtaining the coordinate information of the secondary coil of the unmanned aerial vehicle is as follows:
electrically connecting a power supply of the charging platform with each detection coil forming the position detection coil array, and supplying current;
under the condition that no unmanned aerial vehicle lands on the charging platform, detecting current information output by the position detecting coil array is obtained through a current collecting circuit in a transmitting end control circuit, the current value of each detecting coil is the same and is recorded as a first current value, and the first current value is stored in a controller in the transmitting end control circuit;
under the condition that the unmanned aerial vehicle is monitored to fall on the charging platform, detection current information output by the position detection coil array is obtained through the current acquisition circuit, the current value of each detection coil is compared with the first current value through the controller, a detection coil corresponding to the minimum detection current value is obtained, and the detection coil is marked as a first coil;
the position of the first coil corresponds to the position of the secondary coil, and the controller obtains the coordinate information of the secondary coil according to the coordinate information of the first coil.
10. The wireless charging method for unmanned aerial vehicles according to claim 8, comprising the following steps:
step 1, a charging platform monitors whether an unmanned aerial vehicle to be charged in a wireless charging system exists or not; if yes, entering a detection stage, and turning to the step 2; if not, continuing to be in a waiting stage;
step 2, the transmitting module of the charging platform transmits pulse energy to the unmanned aerial vehicle and judges whether a response from the unmanned aerial vehicle is received; if the response is received, the transmitting module continues to transmit the pulse energy and enters an identification and configuration stage, and then the step 3 is carried out; if no response is received, returning to the waiting stage, and turning to the step 1;
step 3, the transmitting module judges whether the received data packet information is correct; if the unmanned aerial vehicle is correct, identifying the identity of the unmanned aerial vehicle, configuring an electric energy transmission environment, entering an electric energy transmission stage, and turning to the step 4; if the error or the recognition is not available, returning to the waiting stage, and turning to the step 1;
step 4, the transmitting module modulates and corrects the charging parameters according to the data packet information, and monitors and judges whether each constraint condition of the electric energy transmission exceeds the constraint requirement of the data packet information; if not, wireless charging is carried out; and if the voltage exceeds the preset value, stopping power supply, returning to the waiting stage, and turning to the step 1.
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