CN114103681A - 一种垂直起降无人机自主充电系统 - Google Patents

一种垂直起降无人机自主充电系统 Download PDF

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CN114103681A
CN114103681A CN202111376173.XA CN202111376173A CN114103681A CN 114103681 A CN114103681 A CN 114103681A CN 202111376173 A CN202111376173 A CN 202111376173A CN 114103681 A CN114103681 A CN 114103681A
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周亨
王磊
黄水林
余立强
张学东
郭佼
黄志勇
侯祥民
吴令华
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China Helicopter Research and Development Institute
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Abstract

本发明提供了一种垂直起降无人机自主充电系统，包括：机载设备，设置在无人机上，用于辅助无人机降落在地面充电站上自主充电；地面充电站，用于为无人机充电；机载设备包括：图像采集部件，设置在无人机上，用于辅助无人机降落在地面充电站上；弹簧针，设置在无人机的起落架中部；地面充电站包括：降落平台，用于降落无人机；供电片，设置在降落平台上，用于为无人机充电；视觉识别图标，设置在降落平台上，且设置在供电片之间。本发明不需额外的机械结构对无人机进行定位，对无人机着陆精度要求低，削弱地效设计，提高降落精度；仅有两片充电板，结构简单、可靠，充电电流大、充电速度快。

Description

一种垂直起降无人机自主充电系统
技术领域
本发明属于无人机充电技术领域，尤其涉及一种垂直起降无人机自主充电系统。
背景技术
近年来，电动垂直起降无人机被广泛应用于农林植保、应急救援、航拍测绘等各个领域，尤其是消费级航拍领域，以大疆多旋翼无人机为代表的消费级多旋翼无人机的应用引起了人们对多旋翼无人机的广泛关注。但现阶段电动垂直起降无人机受限于电机性能与电池能量密度，其飞行时间极为有限，平台拓展能力亦受到很大限制。市售垂直起降无人机产品飞行时间多为20分钟以下，航时短、任务半径小、需人工频繁充电、自动化程度低，难以满足连续长时间作业的需求，也给飞行保障带来不便。
现有接触式对接方式，如“蜂窝式”可变极性，如多片供电片，装置复杂，尤其电路复杂，整体可靠性低。其他直接接触方式还存在接触电阻大、充电电流小等问题。
此外，目前已知的各种对接方式，均未考虑无人机精确着陆的需求，没有着陆引导设计，没有其他辅助降落方式，全自主精确着陆可实现性差。
发明内容
针对上述技术问题，本发明提供了一种垂直起降无人机自主充电系统，包括：
机载设备，设置在无人机上，用于辅助所述无人机降落在地面充电站上自主充电；
地面充电站，用于为所述无人机充电。
优选地，所述机载设备包括：
图像采集部件，设置在所述无人机上，用于辅助所述无人机降落在地面充电站上；
弹簧针，设置在所述无人机的起落架中部。
优选地，所述地面充电站包括：
降落平台，用于降落所述无人机；
供电片，设置在所述降落平台上，用于为所述无人机充电；
视觉识别图标，设置在所述降落平台上，且设置在所述供电片之间。
优选地，所述地面充电站还包括：
控制电路，设置在所述降落平台内部，与所述供电片连接；
电源模块，设置在所述降落平台内部，与所述控制电路连接。
优选地，所述地面充电站还包括：
通信电台，用于所述无人机和所述地面充电站通信。
优选地，所述弹簧针呈阵列式分布在所述起落架的中部。
优选地，所述视觉识别图标与所述供电片重叠的区域采用导电材料制成。
优选地，所述供电片之间的区域采用绝缘材料制成。
本发明的有益技术效果：
本发明不需额外的机械结构对无人机进行定位，对无人机着陆精度要求低，削弱地效设计，提高降落精度；仅有2片充电板，结构简单、可靠，充电电流大、充电速度快。
附图说明
图1是本发明实施例提供的地面充电站的顶部示意图；
图2是本发明实施例提供的弹簧针的侧视图；
图3是本发明实施例提供的弹簧针的正视图；
图4是本发明实施例提供的弹簧针的等轴侧视图；
其中，1-供电片、2-弹簧针触点、3-起落架、4-视觉识别图标。
具体实施方式
请参阅图1-4，本发明提供的自主充电系统包括地面充电站、无人机和机载设备。
其中，机载设备包括摄像头,和起落架弹簧针触点2。
在本申请实施例中，无人机为垂直起降旋翼类或者固定翼飞机。无人机上装有摄像头，视觉辅助末端精确降落在地面充电站上。无人机起落架3上布置有弹簧针，弹簧针呈阵列式分布。
其中，地面充电站包括降落平台、控制电路、视觉识别图标4、供电片1、通信电台和电源模块。
其中，地面充电站顶部仅有两片供电片，控制器可以控制供电片是否通电，两片供电片之间有绝缘材料，且布置了通孔。两片供电片之间的距离大于起落架上弹簧针布置区域长度。地面充电站顶部有视觉识别图标，图标呈现易于识别的颜色，如黑色。图标形状易于摄像头识别，如附图标志。图标与供电片重叠的区域为可导电材料，如碳纸。
长度关系：L1<L2<L3。
在本申请实施例中，无人机降落在地面充电站后，地面充电站会检测弹簧针与充电片连接状况。
下面结合附图1-4对本发明进一步说明，本发明包括但不限于下述实施例。
本发明的充电流程：
(1)所述无人机在飞行过程中低电量报警，所述无人机搜索附近地面充电站并通过数据链电台与之通信，确认距离最近且空闲可充电的充电站，获知充电站的位置坐标；
(2)获知充电站的位置坐标后，第一步，所述无人机依靠差分GPS和惯性导航及其他导航方式飞行至充电站附近合适半径范围内；
(3)在所述无人机处于合适高度和位于充电站附近合适半径范围内，所述无人机上机载摄像头启动，开始图像采集工作；
(4)所述无人机上机载摄像头采集到的图像，传输给图像识别处理程序，确认是否采集到包含有充电站顶部视觉识别图标的图像；
(5)包含视觉识别图标的图像，经数据处理程序处理计算得到相应的坐标信息，该坐标信息传递给无人机上飞行控制器，经进一步解算后，引导无人机进行位置和高度调整。
(6)所述无人机下降高度，并调整水平位置，在飞行至地面充电站上方数厘米的地方，可启用其他可提高降落精度的辅助精确定位和精确着陆引导设备，若有；
(7)所述无人机精确降落在地面充电站顶部降落区域；
(8)地面充电站检测起所述无人机起落架中部位置所布置的阵列式弹簧针与供电片之间是否接触良好；
(9)若接触良好，进行下一步流程，地面充电站通过通信电台和所述无人机通信，告知接触状况；
(10)地面充电站获知所述无人机电池类型及串联数，获知充电所需电压和电流大小；
(11)地面充电站控制电路控制电源模块，为供电片提供电源供应；
(12)所述无人机开始充电，地面充电站对充电电流和电压进行实时监测并记录相关数据到本地；
(13)检测到所述无人机的电池电压达到预期值，控制电路控制电源模块；
切断供电片电源供应；
(14)地面充电站通过通信电台和所述无人机进行通信，告知无人机充电已完成，电源已切断，可以再次起飞；
(15)所述无人机收到可以起飞的信息后，进行起飞前准备工作，准备完成后无人机起飞；
(16)无人机继续执行飞行任务。
通过以上流程，所述无人机自主充电系统实现了为无人机自主充电，全程无人工干预。
本发明所述无人机自主充电系统不需额外的机械结构对无人机进行定位，对无人机着陆精度要求低，削弱地效设计，提高降落精度。仅有两片充电片，结构简单、可靠，充电电流大、充电速度快。
同时，垂直起降无人机实现全自主充电后，既可大大改善保障性、节约人力成本，又可在配备多架无人机时实现不间断作业，并使无人机系统部署于偏僻地区自主执行任务成为可能，是一项能使无人机系统发挥更大作用的通用技术。未来可广泛应用于边境巡逻、电力石油巡线、安防监控、反恐应急、植保、快递运输等多个领域。

Claims (8)

1.一种垂直起降无人机自主充电系统，其特征在于，包括：
机载设备，设置在无人机上，用于辅助所述无人机降落在地面充电站上自主充电；
地面充电站，用于为所述无人机充电。
2.根据权利要求1所述的垂直起降无人机自主充电系统，其特征在于，所述机载设备包括：
图像采集部件，设置在所述无人机上，用于辅助所述无人机降落在地面充电站上；
弹簧针，设置在所述无人机的起落架中部。
3.根据权利要求2所述的垂直起降无人机自主充电系统，其特征在于，所述地面充电站包括：
降落平台，用于降落所述无人机；
供电片，设置在所述降落平台上，用于为所述无人机充电；
视觉识别图标，设置在所述降落平台上，且设置在所述供电片之间。
4.根据权利要求3所述的垂直起降无人机自主充电系统，其特征在于，所述地面充电站还包括：
控制电路，设置在所述降落平台内部，与所述供电片连接；
电源模块，设置在所述降落平台内部，与所述控制电路连接。
5.根据权利要求4所述的垂直起降无人机自主充电系统，其特征在于，所述地面充电站还包括：
通信电台，用于所述无人机和所述地面充电站通信。
6.根据权利要求2所述的垂直起降无人机自主充电系统，其特征在于，所述弹簧针呈阵列式分布在所述起落架的中部。
7.根据权利要求3所述的垂直起降无人机自主充电系统，其特征在于，所述视觉识别图标与所述供电片重叠的区域采用导电材料制成。
8.根据权利要求3所述的垂直起降无人机自主充电系统，其特征在于，所述供电片之间的区域采用绝缘材料制成。
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CN110816327A (zh) * 2019-10-18 2020-02-21 西北工业大学 一种接触式无人机自主充电系统
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CN107672817A (zh) * 2017-09-21 2018-02-09 内蒙古工业大学 一种移动式车载无人机的智能起降系统
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