CN116353878B - Unmanned aerial vehicle charging system and charging method - Google Patents
Unmanned aerial vehicle charging system and charging method Download PDFInfo
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- CN116353878B CN116353878B CN202310294431.2A CN202310294431A CN116353878B CN 116353878 B CN116353878 B CN 116353878B CN 202310294431 A CN202310294431 A CN 202310294431A CN 116353878 B CN116353878 B CN 116353878B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 229910052802 copper Inorganic materials 0.000 claims abstract description 67
- 239000010949 copper Substances 0.000 claims abstract description 67
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 66
- 238000001514 detection method Methods 0.000 claims description 19
- 230000002265 prevention Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000007123 defense Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 230000001012 protector Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000213006 Angelica dahurica Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Anchoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
- B64F1/222—Ground or aircraft-carrier-deck installations installed for handling aircraft for storing aircraft, e.g. in hangars
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses an unmanned aerial vehicle charging system and a charging method, wherein the unmanned aerial vehicle charging system comprises an unmanned aerial vehicle and an unmanned aerial vehicle automatic airport, the unmanned aerial vehicle comprises a machine body, the bottom of the machine body is provided with a landing gear, the landing gear comprises four machine legs, and the tail end of each machine leg is provided with a contact charging structure connected with a battery of the unmanned aerial vehicle; the contact charging structure charges by relying on the landing gear pivot of the unmanned aerial vehicle, so that the contact area is large, and the situation that the contact heats in the high-power charging process is avoided; the contact force of the copper electrode is about 90N, so that poor contact of the contact during charging of the contact or reduction of the contact force caused by long-time use is avoided; according to the invention, as the landing gear deforms within a controllable range, the copper pole of the contact charging mechanism of the unmanned aerial vehicle is ensured to be charged all the time in surface contact, the condition that the contact is heated due to the increase of the resistance is avoided, and the technical problems of poor contact, high failure rate and short service life of the electrode of the unmanned aerial vehicle honeycomb in the prior art are solved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle autonomous charging, relates to a charging system, and in particular relates to an unmanned aerial vehicle charging system and a charging method.
Background
With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles have been widely used in the fields of electric power line inspection, petroleum pipeline line inspection, frontier defense, sea defense, traffic rescue, forest fire prevention and the like. The composite wing unmanned aerial vehicle is suitable for mountain areas, deserts, island reefs and the like without constructing airports due to the technical characteristics of large load, long endurance and the like, but needs to execute flight tasks of large load and long endurance. However, when the unmanned aerial vehicle is used in an environment with relatively severe conditions, the requirements on the use and maintenance of the unmanned aerial vehicle are higher. Therefore, in order to improve the task execution capacity of the unmanned aerial vehicle and reduce maintenance times, ensure the safe flight of the unmanned aerial vehicle, a set of automatic airport with the unmanned aerial vehicle self-recovery and self-charging technology is designed, and the automatic recovery and charging of the compound wing unmanned aerial vehicle are realized.
In the prior art, unmanned aerial vehicle mainly adopts following two kinds of techniques to realize unmanned aerial vehicle's charging. The first is to indirectly realize automatic charging of the unmanned aerial vehicle by replacing a battery. The second type is to realize a contact type charging mode by operating the centering mechanism and utilizing a fixed contact type (clamping jaw and plug) connecting and disconnecting mechanism to contact or insert a charging copper pole.
When the first type of automatic airport is charged autonomously, the unmanned aerial vehicle needs to be clamped to a designated position, then the battery is clamped by a manipulator, the battery is detached and then mounted on a special charging structure, and then the charged battery is clamped and mounted on the unmanned aerial vehicle. The unmanned aerial vehicle charging technology is complex in structure and more complex in control logic. Firstly, the battery of the unmanned aerial vehicle needs to be subjected to complex structural design so as to meet the requirement of clamping and grabbing and disassembling of the manipulator, and the charging structure also needs to be subjected to corresponding complex structural design according to the battery of the unmanned aerial vehicle. Secondly, when the manipulator clamps and grabs the battery to charge, the control accuracy requirement on the manipulator is extremely high, and the battery can not be installed in place due to excessive errors, so that the normal charging of the battery can not be realized. Finally, due to the complex mechanical structure and control logic, the charging technology has high cost, high maintenance difficulty, high failure rate, short service life and the like.
The automatic airport autonomous charging technology of the second unmanned aerial vehicle is characterized in that a contact type charging copper electrode is installed at a certain fixed position of the unmanned aerial vehicle, the unmanned aerial vehicle is required to be moved to a designated position during charging, and then the contact type charging is realized by inserting the charging copper electrode through the clamping of a manipulator or a plug. The charging mode has a complex structure, requires higher control precision to realize contact charging, and has the defects of poor contact, high charging impedance, heating of a contact copper electrode and the like, thereby influencing the service life of an autonomous charging host machine and the like.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an unmanned aerial vehicle charging system and an unmanned aerial vehicle charging method, so as to solve the technical problems of poor electrode contact, high failure rate and short service life of unmanned aerial vehicle honeycomb in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
The unmanned aerial vehicle charging system comprises an unmanned aerial vehicle and an unmanned aerial vehicle automatic airport, wherein the unmanned aerial vehicle comprises a machine body, a landing gear is arranged at the bottom of the machine body, the landing gear comprises four machine legs, and the tail end of each machine leg is provided with a contact charging structure connected with a battery of the unmanned aerial vehicle;
The unmanned aerial vehicle automatic airport include the nest body, the top of nest body be provided with the apron, the apron on be provided with four copper for respectively with four contact charging structure contact form the charging circuit, four the copper be the quadrilateral central point in summit put with there is the first distance of predetermineeing between the center of apron.
The invention also comprises the following technical characteristics:
The nest body top is horizontally provided with a centering mechanism, and the centering mechanism is positioned above the parking apron, wherein the centering mechanism comprises four centering rods, and a second preset distance is reserved between the center of an area surrounded by the centering rods after centering and the center of the parking apron; the first preset distance is equal to the second preset distance.
The nest body inside still be provided with the contact host computer that charges, the contact host computer that charges link to each other with four copper through the power cord respectively, the power cord on all be provided with and prevent reverse connection protection device.
The battery set up in the organism top, the organism inside be provided with short-circuit protection device, wherein, two contact charging structure pass through the wire and link to each other with short-circuit protection device and battery positive pole in proper order, other two contact charging structure pass through the wire and link to each other with short-circuit protection device and battery negative pole in proper order.
The contact charging structure comprises a machine leg sheath fixedly arranged at the tail end of the machine leg, and a copper electrode is fixedly arranged at the tail end of the machine leg sheath; a wiring terminal is arranged on the outer wall of the machine leg sheath, and the wiring terminal is fixedly connected with the copper pole through a conductive connecting mechanism;
The machine leg is fixedly connected with the machine leg sheath through a first bolt, and the first bolt is embedded in the machine leg sheath.
And a slip ring rotor and a slip ring stator are further arranged on a power line between the copper plate and the anti-reverse connection protection device in sequence, the slip ring rotor is in rotatable electric connection with the slip ring stator, and the slip ring rotor can rotate along with the parking apron.
The copper plate is inlaid on the parking apron, the upper surface of the copper plate is flush with the upper surface of the parking apron, and the area formed by the copper plate completely covers the bottom area of the copper pole horizontal section.
The contact charging structure is in a drop shape in the projection of a horizontal plane, and one side with smaller width faces the machine head direction.
The circuit detection module is connected with the charging loop; the control module is used for sequentially opening the reverse connection preventing protection device and the contact charging host according to a preset rule based on the position information of the centering mechanism;
the circuit detection module is used for detecting a charging loop based on the instruction of the control module to obtain a detection result;
and the control module is also used for controlling the contact charging host to open a charging function when the detection result is safe.
The unmanned aerial vehicle charging method adopts the unmanned aerial vehicle charging system, and the method specifically comprises the following steps:
when the unmanned aerial vehicle falls to the upper part of the parking apron, the unmanned aerial vehicle reaches a designated position by operating the centering mechanism and the rotary parking apron, so that the copper plate is aligned with a contact charging mechanism on an undercarriage of the unmanned aerial vehicle;
when the unmanned aerial vehicle stops to a correct position, the reverse connection prevention protection device and the contact charging host are controlled to be opened through the control module, and the circuit connection state of the charging loop is detected through the circuit detection module;
Step three, if the detection result shows safety, the contact charging host is controlled by the control module to open a charging function and start charging;
and step four, after the charging is completed, the contact charging host automatically closes the charging function, and simultaneously feeds back the charging state to the control module, and the control module controls the reverse connection preventing protection device to be closed.
And step five, charging is completed.
Compared with the prior art, the invention has the beneficial technical effects that:
The contact charging structure is simple and reliable, the unmanned aerial vehicle landing gear fulcrum is used for charging, the contact area is large, the single electrode can maximally bear 40A charging current, and the situation that the contact heats in the high-power charging process is avoided; secondly, the clamping force of the contact spring plate of common contact charging is not more than 10N, and the contact force of the copper pole is about 90N, which is far more than the clamping force of the common socket spring plate, so that the situation of poor contact of the contact during contact charging is avoided, and the situation of reduction of the contact force due to long-time use is also avoided; finally, the general contact charging mode can generate point contact due to the problems of structural deformation and the like when the structure is used for a long time, so that the problems of contact resistance increase, contact heating and the like are caused.
The reverse connection preventing protection device is used for preventing the polarity of the electrode of the contact charging mechanism on the landing gear from being opposite to the polarity of the copper plate on the landing gear when the unmanned aerial vehicle falls on the parking apron, the battery reversely supplies power to the contact charging host of the unmanned aerial vehicle to cause damage of the contact charging host of the unmanned aerial vehicle, and in addition, the reverse connection preventing protection device also has the capability of disconnecting the power supply between the contact charging host and the unmanned aerial vehicle battery, and is in redundant design with the short-circuit protection device on the unmanned aerial vehicle, so that the safety of the unmanned aerial vehicle and the contact charging mechanism is ensured under any abnormal state, and equipment damage caused by emergency is avoided.
The diameter of the copper plate is 4 times of the length of the contact charging mechanism, errors caused by assembly errors, clamping accuracy and the like are avoided, the contact charging mechanism of the unmanned aerial vehicle is not aligned with the copper plate, the charging effect is affected, and the problem that the contact charging mechanism and the copper plate cannot be aligned after the unmanned aerial vehicle is clamped and centered due to deformation of an undercarriage of the unmanned aerial vehicle or machining errors is avoided.
(IV) the contact charging mechanism has small volume and light weight, and the water drop-shaped structure does not influence the aerodynamics of the aircraft and is more attractive; the structure is simple, and the maintenance or the replacement is easy; the charging contact area is large, the resistance is small, and a single electrode can bear the charging current of 40A at maximum.
The short-circuit protector provided by the invention can be used for avoiding the situation that the unmanned aerial vehicle falls on a conductive material due to emergency, so that the battery is short-circuited, and also avoiding the short-circuit damage of the unmanned aerial vehicle battery caused by the fact that the polarity of an electrode of a contact charging mechanism on an undercarriage is opposite to the polarity of a copper plate on an apron when the unmanned aerial vehicle falls on the unmanned aerial vehicle apron.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic side sectional structure of the unmanned aerial vehicle of the present invention when charging;
fig. 3 is a schematic structural view of the unmanned aerial vehicle in the present invention;
fig. 4 is a schematic three-dimensional structure of the unmanned aerial vehicle of the present invention when charged;
fig. 5 is a schematic diagram of an unmanned aerial vehicle automatic airport charging principle in the present invention;
FIG. 6 is a schematic diagram of the mating of the contact charging structure and the leg of the present invention;
FIG. 7 is a schematic cross-sectional view of the mating of the leg shield of the present invention with a copper pole;
FIG. 8 is a schematic sectional view of an assembly of a leg shield of the present invention with a plurality of copper poles;
fig. 9 is a schematic three-dimensional structure of the contact charging structure and the leg of the present invention.
The meaning of each reference numeral in the figures is: 1-unmanned aerial vehicle, 2-unmanned aerial vehicle automatic airport, 3-first bolt, 4-second bolt;
101-organism, 102-battery, 103-short circuit protection device, 104-landing gear, 105-leg, 106-contact charging structure;
10601-a machine leg sheath, 10602-a copper pole, 10603-a wiring terminal;
1060201-horizontal section, 1060202-vertical section;
201-nest body, 202-nest cover, 203-centering mechanism, 204-apron, 205-copper plate, 206-contact charging host, 207-anti-reverse connection protection device, 208-slip ring rotor, 209-slip ring stator.
The following examples illustrate the invention in further detail.
Detailed Description
All parts in the present invention are known in the art, unless otherwise specified.
The following specific embodiments of the present application are provided, and it should be noted that the present application is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical scheme of the present application fall within the protection scope of the present application.
The unmanned aerial vehicle charging system comprises an unmanned aerial vehicle 1 and an unmanned aerial vehicle automatic airport 2, wherein the unmanned aerial vehicle 1 comprises a machine body 101, a landing gear 104 is arranged at the bottom of the machine body 101, the landing gear 104 comprises four machine legs 105, and the tail end of each machine leg 105 is provided with a contact charging structure 106 connected with a battery 102 of the unmanned aerial vehicle 1;
The unmanned aerial vehicle automatic airport 2 comprises a nest body 201, an air park 204 is arranged at the top of the nest body 201, four copper plates 205 are arranged on the air park 204 and used for being respectively contacted with four contact charging structures 106 to form a charging loop, and a first preset distance is reserved between the center position of a quadrangle with the four copper plates 205 being vertexes and the center of the air park 204.
The top of the nest body 201 is horizontally provided with a centering mechanism 203, and the centering mechanism 203 is positioned above the parking apron 204, wherein the centering mechanism 203 comprises four centering rods, and a second preset distance is reserved between the center of an area surrounded by the centering rods after centering and the center of the parking apron 204; the first preset distance is equal to the second preset distance.
In the technical scheme, the contact charging structure is simple and reliable, the unmanned aerial vehicle landing gear fulcrum is used for charging, the contact area is large, and the single electrode can maximally bear 40A charging current, so that the situation that the contact heats in the high-power charging process is avoided; secondly, the clamping force of the contact spring plate of common contact charging is not more than 10N, and the contact force of the copper pole is about 90N, which is far more than the clamping force of the common socket spring plate, so that the situation of poor contact of the contact during contact charging is avoided, and the situation of reduction of the contact force due to long-time use is also avoided; finally, the general contact charging mode can generate point contact due to the problems of structural deformation and the like when the structure is used for a long time, so that the problems of contact resistance increase, contact heating and the like are caused.
Secondly, prevent reverse connection protection device is used for preventing that unmanned aerial vehicle from falling on the apron just when the electrode of the contact charging mechanism on the undercarriage is opposite with the polarity of copper on the apron, and the battery is reverse for unmanned aerial vehicle contact charging host computer power supply, causes unmanned aerial vehicle contact charging host computer's damage, in addition, prevent reverse connection protection device still possess the ability of breaking power between contact charging host computer and the unmanned aerial vehicle battery, carry out redundant design with the short-circuit protection device on the unmanned aerial vehicle, guarantee under any abnormal state, unmanned aerial vehicle and contact charging mechanism's safety, avoided causing the damage of equipment because of the emergency.
Finally, the short-circuit protector avoids the condition that the unmanned aerial vehicle drops on conductive materials due to emergency, and causes battery short circuit, and also avoids the condition that the polarity of an electrode of a contact charging mechanism on an undercarriage is opposite to that of a copper plate on an apron when the unmanned aerial vehicle drops on an unmanned aerial vehicle apron, and causes short circuit damage of an unmanned aerial vehicle battery.
Wherein, unmanned aerial vehicle automatic airport 2 also includes nest cover 202 cooperating with nest body 201; the four legs 105 enclose a rectangle in the same horizontal position.
Specifically, a contact charging host 206 is further disposed in the nest 201, and the contact charging host 206 is connected to the four copper plates 205 through power lines, and reverse connection protection devices 207 are disposed on the power lines.
Specifically, the battery 102 is disposed in the top of the machine body 101, and a short-circuit protection device 103 is disposed in the machine body 101, wherein two contact charging structures 106 are sequentially connected with the short-circuit protection device 103 and the positive electrode of the battery 102 through wires, and the other two contact charging structures 106 are sequentially connected with the short-circuit protection device 103 and the negative electrode of the battery 102 through wires.
Specifically, the contact charging structure 106 includes a leg sheath 10601 fixedly mounted at the end of the leg 105, and a copper electrode 10602 is fixedly disposed at the end of the leg sheath 10601; a wiring terminal 10603 is arranged on the outer wall of the machine leg sheath 10601, and the wiring terminal 10603 is fixedly connected with the copper pole 10602 through a conductive connecting mechanism;
the leg 105 and the leg jacket 10601 are fixedly connected by a first bolt 3, and the first bolt 3 is embedded in the leg jacket 10601.
In the above technical solution, when the conductive connection mechanism adopts the bolt, the leg sheath 10601 and the copper pole 10602 are fixedly connected through the second bolt 4, and two ends of the thread of the second bolt 4 are respectively contacted with the connection terminal 10603 and the copper pole 10602, so that the copper pole and the battery are conducted, so that the subsequent charging is completed; the first bolt 3 is embedded in the leg sheath 10601, and is used for avoiding increasing the flight resistance of the unmanned aerial vehicle.
In addition, copper pole 10602 is a T-shaped copper pole, including a horizontal section 1060201 that contacts the copper plate during charging and a vertical section 1060202 that extends into the interior of leg shield 10601.
Specifically, a slip ring rotor 208 and a slip ring stator 209 are further sequentially disposed on a power line between the copper plate 205 and the anti-reverse connection protection device 207, the slip ring rotor 208 is rotatably and electrically connected with the slip ring stator 209, and the slip ring rotor 208 can rotate along with the apron 204.
In the above solution, the slip ring rotor 208 does not actively rotate, but rotates with the rotation of the apron, which mainly serves to prevent the apron from causing a winding of wires when rotating.
Specifically, copper 205 is inlayed on the apron 204, and copper 205 upper surface and apron 204 upper surface parallel and level, the region that copper 205 formed covers completely copper utmost point horizontal segment 1060201 bottom region, the stability when having guaranteed unmanned aerial vehicle and having fallen.
Specifically, the contact charging structure 106 has a drop shape in the horizontal plane, and the smaller width side faces the handpiece direction.
In the above technical scheme, the length of the contact charging structure 106 is L, the width is 0.5L, and the contact charging structure is small in size and light in weight, and the water drop-shaped structure is more attractive while the aerodynamics of the aircraft is not affected; the structure is simple, and the maintenance or the replacement is easy; the charging contact area is large, the resistance is small, and a single electrode can bear the charging current of 40A at maximum.
Wherein the copper plate 205 is circular, and the diameter thereof is not less than 4L. Among the above-mentioned technical scheme, the diameter of copper is 4 times of the length of contact charging mechanism, avoids just because of the error that leads to such as assembly error, centre gripping precision, makes unmanned aerial vehicle contact charging mechanism and copper not aim at, influences the effect of charging, also avoids because of unmanned aerial vehicle undercarriage warp, or processing error leads to unmanned aerial vehicle centre gripping back of returning to the middle, and contact charging mechanism and copper can't aim at, influences the effect of charging.
Specifically, the circuit charging device further comprises a control module and a circuit detection module which are connected, wherein the control module is connected with the contact charging host 206 and the anti-reverse connection protection device 207, and the circuit detection module is connected with the charging loop; the control module is used for sequentially opening the reverse connection preventing protection device 207 and the contact charging host 206 according to a preset rule based on the position information of the centering mechanism 203;
the circuit detection module is used for detecting a charging loop based on the instruction of the control module to obtain a detection result;
the control module is further configured to control the contact charging host 206 to turn on a charging function when the detection result is safe.
In the above technical solution, the anti-reverse connection protection device (207) and the contact charging host (206) are sequentially opened according to a preset rule based on the position information of the centering mechanism (203), which comprises the following two schemes:
scheme one: when the preset rule is that the centering rods of the centering mechanism 203 are positioned at preset positions after centering, the control module sequentially opens the reverse connection preventing protection device (207) and the contact charging host (206);
Scheme II: in order to prevent the control module from being triggered by mistake to open the anti-reverse connection protection device (207) and the contact charging host (206) at the return position in the return-to-center rod debugging process (namely, the first scheme is executed by mistake), so that potential safety hazards are caused, second information is further acquired, for example, a pressure sensor is arranged on the parking apron (204), and the preset rule is that the control module sequentially opens the anti-reverse connection protection device (207) and the contact charging host (206) when the Chinese angelica rods are all located at the preset position after return-to-center and the pressure value of the pressure sensor is greater than the preset threshold value
The second information acquiring mode is not limited to pressure acquisition, but can be image acquisition, and is used for detecting whether an unmanned aerial vehicle exists on the parking apron;
the invention also provides an unmanned aerial vehicle charging method, which adopts an unmanned aerial vehicle charging system, and the method specifically comprises the following steps:
step one, when the unmanned aerial vehicle falls to the upper part of the parking apron, the unmanned aerial vehicle reaches a designated position by operating the centering mechanism and the rotary parking apron, so that a copper plate is aligned with a contact charging mechanism on an undercarriage of the unmanned aerial vehicle, and the nest cover 202 is closed;
step two, when the unmanned aerial vehicle stops to a correct position, after the nest cover 202 is closed, the reverse connection prevention protection device and the contact charging host are controlled to be opened through the control module, and the circuit connection state of the charging loop is detected through the circuit detection module;
Step three, if the detection result shows safety, the contact charging host is controlled by the control module to open a charging function and start charging;
and step four, after the charging is completed, the contact charging host automatically closes the charging function, and simultaneously feeds back the charging state to the control module, and the control module controls the reverse connection preventing protection device to be closed.
And step five, charging is completed.
Claims (7)
1. The unmanned aerial vehicle charging system comprises an unmanned aerial vehicle (1) and an unmanned aerial vehicle automatic airport (2), and is characterized in that the unmanned aerial vehicle (1) comprises a machine body (101), a landing gear (104) is arranged at the bottom of the machine body (101), the landing gear (104) comprises four machine legs (105), and the tail end of each machine leg (105) is provided with a contact charging structure (106) connected with a battery (102) of the unmanned aerial vehicle (1);
The contact charging structure (106) comprises a machine leg sheath (10601) fixedly arranged at the tail end of the machine leg (105), and a copper electrode (10602) is fixedly arranged at the tail end of the machine leg sheath (10601); a wiring terminal (10603) is arranged on the outer wall of the machine leg sheath (10601), and the wiring terminal (10603) is fixedly connected with the copper electrode (10602) through a conductive connecting mechanism;
The machine leg (105) is fixedly connected with the machine leg sheath (10601) through a first bolt (3), and the first bolt (3) is embedded in the machine leg sheath (10601);
When the conductive connecting structure adopts bolts, the machine leg sheath (10601) is fixedly connected with the copper pole (10602) through a second bolt (4), and two ends of a thread of the second bolt (4) are respectively contacted with the wiring terminal (10603) and the copper pole (10602); the first bolt (3) is embedded in the leg sheath (10601); the copper pole (10602) is a T-shaped copper pole and comprises a horizontal section (1060201) which is contacted with the copper plate during charging and a vertical section (1060202) which stretches into the machine leg sheath (10601); the unmanned aerial vehicle automatic airport (2) comprises a nest body (201), an air park (204) is arranged at the top of the nest body (201), four copper plates (205) are arranged on the air park (204) and are used for being respectively contacted with four contact charging structures (106) to form a charging loop, a first preset distance is reserved between the center position of a quadrangle with the four copper plates (205) being vertexes and the center of the air park (204), and the first preset distance is not zero;
A contact charging host (206) is further arranged in the nest body (201), the contact charging host (206) is connected with the four copper plates (205) through power lines respectively, and reverse connection prevention protection devices (207) are arranged on the power lines;
The circuit detection module is connected with the charging loop; the control module is used for sequentially opening the reverse connection preventing protection device (207) and the contact charging host (206) according to a preset rule based on the position information of the centering mechanism (203).
2. The unmanned aerial vehicle charging system according to claim 1, wherein the nest (201) has a centering mechanism (203) horizontally mounted on top thereof, and the centering mechanism (203) is located above the tarmac (204), wherein the centering mechanism (203) comprises four centering bars, and a second predetermined distance is provided between the center of the area surrounded by the centering bars after centering and the center of the tarmac (204); the first preset distance is equal to the second preset distance.
3. The unmanned aerial vehicle charging system according to claim 1, wherein the battery (102) is arranged in the top of the machine body (101), a short-circuit protection device (103) is arranged in the machine body (101), wherein two contact charging structures (106) are sequentially connected with the short-circuit protection device (103) and the anode of the battery (102) through wires, and the other two contact charging structures (106) are sequentially connected with the short-circuit protection device (103) and the cathode of the battery (102) through wires.
4. The unmanned aerial vehicle charging system according to claim 1, wherein a slip ring rotor (208) and a slip ring stator (209) are further sequentially arranged on a power line between the copper plate (205) and the anti-reverse connection protection device (207), the slip ring rotor (208) and the slip ring stator (209) are rotatably and electrically connected, and the slip ring rotor (208) can rotate along with the parking apron (204).
5. The unmanned aerial vehicle charging system of claim 1, wherein the copper plate (205) is inlaid on the tarmac (204), the upper surface of the copper plate (205) is flush with the upper surface of the tarmac (204), and the area formed by the copper plate (205) completely covers the bottom area of the horizontal segment (1060201) of the copper pole.
6. The unmanned aerial vehicle charging system according to claim 1, wherein the contact charging structure (106) is drop-shaped in the horizontal plane, with the smaller width side facing the nose direction;
the circuit detection module is used for detecting a charging loop based on the instruction of the control module to obtain a detection result;
the control module is also used for controlling the contact charging host (206) to open a charging function when the detection result is safe.
7. A method for charging a drone, characterized in that a drone charging system according to claim 6 is used, comprising in particular the following steps:
when the unmanned aerial vehicle falls to the upper part of the parking apron, the unmanned aerial vehicle reaches a designated position by operating the centering mechanism and the rotary parking apron, so that the copper plate is aligned with a contact charging mechanism on an undercarriage of the unmanned aerial vehicle;
when the unmanned aerial vehicle stops to a correct position, the reverse connection prevention protection device and the contact charging host are controlled to be opened through the control module, and the circuit connection state of the charging loop is detected through the circuit detection module;
Step three, if the detection result shows safety, the contact charging host is controlled by the control module to open a charging function and start charging;
Step four, after the charging is completed, the contact charging host automatically closes the charging function, and simultaneously feeds back the charging state to the control module, and the control module controls the reverse connection preventing protection device to be closed;
And step five, charging is completed.
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| CN116353878A (en) | 2023-06-30 |
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