CN210882623U - Automatic unmanned aerial vehicle and unmanned aerial vehicle charging system charge - Google Patents
Automatic unmanned aerial vehicle and unmanned aerial vehicle charging system charge Download PDFInfo
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- CN210882623U CN210882623U CN201921587138.0U CN201921587138U CN210882623U CN 210882623 U CN210882623 U CN 210882623U CN 201921587138 U CN201921587138 U CN 201921587138U CN 210882623 U CN210882623 U CN 210882623U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The utility model provides an automatic charging unmanned aerial vehicle, which comprises an unmanned aerial vehicle body and charging support legs; the number of the charging support legs is more than four, the number of the charging support legs is even, and all the charging support legs are uniformly arranged below the unmanned aerial vehicle body along a circumference; the charging support leg comprises a support leg body and a charging terminal, the upper end of the support leg body is arranged on the unmanned aerial vehicle body, and the charging terminal is arranged at the lower end of the support leg body; the unmanned aerial vehicle body has rechargeable battery, charging terminal and rechargeable battery electric connection. This automatic unmanned aerial vehicle that charges is provided with the terminal that charges on the stabilizer blade, utilizes the stabilizer blade to charge when shutting down, and unmanned aerial vehicle puts or descends to suitable position and can charge, and convenient operation charges has good convenience in use. Additionally, the utility model also provides an unmanned aerial vehicle charging system.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle field, concretely relates to automatic unmanned aerial vehicle and unmanned aerial vehicle charging system charge.
Background
There is one type of unmanned aerial vehicle to adopt to insert electric charge mode to charge to the battery on the existing market, nevertheless adopts to insert electric charge mode to charge to the battery, needs the user additionally to carry out the operation that the charging wire was inserted, and the user need extract the charging wire after the completion of charging, and the process is comparatively loaded down with trivial details.
SUMMERY OF THE UTILITY MODEL
To the problem that current unmanned aerial vehicle is not enough about the convenience of charging, the utility model provides an automatic unmanned aerial vehicle and unmanned aerial vehicle charging system charge, this automatic unmanned aerial vehicle that charges is provided with the terminal that charges on the stabilizer blade, charges when utilizing the stabilizer blade to shut down, and unmanned aerial vehicle puts or descends to suitable position and can charge, and convenient operation charges has good convenience in use.
Correspondingly, the utility model provides an automatic charging unmanned aerial vehicle, which comprises an unmanned aerial vehicle body and charging support legs;
the number of the charging support legs is more than four, the number of the charging support legs is even, and all the charging support legs are uniformly arranged below the unmanned aerial vehicle body along a circumference;
the charging support leg comprises a support leg body and a charging terminal, the upper end of the support leg body is arranged on the unmanned aerial vehicle body, and the charging terminal is arranged at the lower end of the support leg body;
the unmanned aerial vehicle body has rechargeable battery, charging terminal with rechargeable battery electric connection.
In an alternative embodiment, the rechargeable battery has a charging anode and a charging cathode;
the charging terminal is electrically connected with the charging anode based on a first diode, the anode of the first diode is electrically connected with the charging terminal, and the cathode of the first diode is electrically connected with the charging anode;
the charging terminal is electrically connected with the charging cathode based on a second diode, the anode of the second diode is electrically connected with the charging cathode, and the cathode of the second diode is electrically connected with the charging terminal.
In an optional embodiment, the automatic charging unmanned aerial vehicle further comprises an unmanned aerial vehicle processing module, an ultrasonic wave generation module and an unmanned aerial vehicle communication module;
the unmanned aerial vehicle processing module, the ultrasonic wave generation module and the unmanned aerial vehicle communication module are respectively arranged on the unmanned aerial vehicle body;
the unmanned aerial vehicle body is provided with an unmanned aerial vehicle flight control module, the unmanned aerial vehicle flight control module is electrically connected with the unmanned aerial vehicle processing module, and the unmanned aerial vehicle processing module is electrically connected with the unmanned aerial vehicle communication module;
the ultrasonic wave generation module comprises an ultrasonic wave emitting head, and the ultrasonic wave emitting head is arranged at the bottom of the unmanned aerial vehicle body.
In an optional embodiment, the ultrasonic wave generating module further includes a pulse signal generator, a switching transistor and a middle transformer;
one end of the first primary of the middle transformer is a low-voltage input end, and the other end of the first primary of the middle transformer is electrically connected with a collector of the switching triode;
the base electrode of the switching triode is electrically connected with the output end of the pulse signal generator, and the emitting electrode of the switching triode is grounded;
and two ends of the second primary of the middle transformer are respectively and electrically connected with the two electrodes of the ultrasonic transmitting head.
In an optional embodiment, the ultrasonic wave generating module further includes a ground resistor, and one of the electrodes of the ultrasonic wave generating head is grounded via the ground resistor.
In an optional embodiment, the drone processing module includes a processor, the processor has a plurality of general purpose input and output interfaces, and one of the plurality of general purpose input and output interfaces is electrically connected to the drone flight control;
the pulse signal generator is internally arranged in the processor, and one general input/output interface of the plurality of general input/output interfaces is the output end of the pulse signal generator.
The unmanned aerial vehicle communication module is a wireless receiving module.
Correspondingly, the embodiment of the utility model provides an unmanned aerial vehicle charging system, unmanned aerial vehicle charging system is including charging air park and above arbitrary one automatic unmanned aerial vehicle that charges.
The utility model provides an automatic charging unmanned aerial vehicle and unmanned aerial vehicle charging system, this automatic charging unmanned aerial vehicle can realize parking automatic charging function through charging pin; the charging pins are specially designed to ensure that the charging unmanned aerial vehicle can be charged only by setting the charging pins on the position, and the charging pins do not need to distinguish the positive electrode and the negative electrode; utilize ultrasonic signal to supply the air park that charges to acquire this automatic unmanned aerial vehicle's that charges position to realize this automatic unmanned aerial vehicle that charges and descend to the function of charging the air park and predetermineeing descending position, automatic descending charges automatically, and degree of automation is high. Based on this unmanned aerial vehicle charging system that automatic unmanned aerial vehicle that charges established, can very big degree simplified the required action of unmanned aerial vehicle charging, realize that unmanned aerial vehicle's high efficiency charges, have good practicality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a schematic three-dimensional structure diagram of an automatic charging unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 shows a schematic view of a charging structure of an automatic charging unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 shows a schematic circuit structure diagram of an automatic charging unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic circuit diagram of an ultrasonic generation module according to an embodiment of the present invention;
fig. 5 shows a schematic diagram of a three-dimensional structure of a charging apron according to an embodiment of the present invention;
fig. 6 shows a schematic structural diagram of a charging circuit of a charging apron according to an embodiment of the present invention;
fig. 7 shows a schematic structural diagram of a rectangular charging electrode plate according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a semi-circular charging electrode plate according to an embodiment of the present invention;
fig. 9 shows a schematic structural diagram of an apron treatment module according to an embodiment of the invention;
fig. 10 is a schematic circuit diagram of an ultrasonic receiving module according to an embodiment of the present invention;
fig. 11 shows a schematic flow chart of a method for guiding an unmanned aerial vehicle to land and charge;
fig. 12 shows a communication cycle flow diagram of an embodiment of the invention;
fig. 13 shows the spatial position Q of the embodiment of the present invention0(x0,y0,z0) And the flow of the calculation method is schematic.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Automatic unmanned aerial vehicle charges:
fig. 1 shows a schematic diagram of a three-dimensional structure of an automatic charging unmanned aerial vehicle according to an embodiment of the present invention, and an embodiment of the present invention provides an automatic charging unmanned aerial vehicle, which includes an unmanned aerial vehicle body 1 and charging support legs 5;
the number of the charging support legs 5 is more than four, the number of the charging support legs is even, and all the charging support legs are uniformly arranged below the unmanned aerial vehicle body along a circumference;
the charging support leg 5 comprises a support leg body 502 and a charging terminal 501, the upper end of the support leg body 502 is arranged on the unmanned aerial vehicle body 1, and the charging terminal 501 is arranged at the lower end of the support leg body 502;
the unmanned aerial vehicle body has rechargeable battery, charging terminal with rechargeable battery electric connection.
The embodiment of the utility model provides an in, set up charging terminal 501 at stabilizer blade body 502 lower extreme, when this automatic unmanned aerial vehicle that charges berths, as long as charging terminal 501 and the contact of charging electrode board can realize charging, have good practicality.
Optionally, the terminal 501 that charges is based on the spring 503 setting is in the stabilizer blade body 502 lower extreme, on the one hand, spring 503 can provide certain buffering to the terminal 501 that charges, avoids the terminal 501 and stabilizer blade body 502 rigid collision that charges, and on the other hand, spring 503 can provide certain buffering to this unmanned aerial vehicle that charges automatically when descending, improves the adaptability of unmanned aerial vehicle that charges automatically to the parking position.
Fig. 2 shows the utility model discloses automatic unmanned aerial vehicle that charges structural schematic diagram.
The rechargeable battery is provided with a charging positive electrode and a charging negative electrode;
the charging terminal is electrically connected with the charging anode based on a first diode, the anode of the first diode is electrically connected with the charging terminal, and the cathode of the first diode is electrically connected with the charging anode;
the charging terminal is electrically connected with the charging cathode based on a second diode, the anode of the second diode is electrically connected with the charging cathode, and the cathode of the second diode is electrically connected with the charging terminal.
Taking the charging terminal a as an example, the charging terminal a is electrically connected to the charging anode based on a first diode D8, the first diode D8 is electrically connected to the charging terminal a, and the first diode D8 has a cathode electrically connected to the charging anode;
the charging terminal a is electrically connected to the charging cathode based on a second diode D1, the anode of the second diode D1 is electrically connected to the charging cathode, and the cathode of the second diode D1 is electrically connected to the charging terminal a.
Through the circuit design mode, when the charging terminal is connected with the positive electrode of an external charging power supply, the corresponding first diode is conducted, and the charging terminal is electrically connected with the charging positive electrode of the rechargeable battery; when the charging terminal is connected with the negative electrode of the external charging power supply, the corresponding second diode is conducted, and the charging terminal is electrically connected with the charging negative electrode of the rechargeable battery. Therefore, the charging terminal cannot damage the rechargeable battery no matter the charging terminal is connected with a positive power supply or a negative power supply, and meanwhile, the matched charging of the unmanned aerial vehicle rechargeable battery can be realized through the arrangement of more than four groups of charging support legs which are even groups and the matched design of the charging parking apron. The specific charging mode of the charging apron is described later by combining the structure of the charging apron.
In the prior art, a complete unmanned aerial vehicle body should include foretell rechargeable battery, unmanned aerial vehicle flies to control, remote control module and unmanned aerial vehicle drive module at least, wherein, rechargeable battery is used for supplying power for other modules on the unmanned aerial vehicle body, and remote control module is used for receiving user's remote control signal, and unmanned aerial vehicle flies to control and is used for driving unmanned aerial vehicle drive module according to remote control signal, makes the unmanned aerial vehicle body can move according to user's control direction, and the relevant content about the unmanned aerial vehicle body above can refer to prior art and understand, the embodiment of the utility model discloses do not introduce separately.
Optionally, in order to realize this automatic unmanned aerial vehicle that charges's automatic descending function, make this automatic unmanned aerial vehicle that charges can descend automatically to charging on the charging position of charging the air park, the utility model discloses an automatic unmanned aerial vehicle that charges still includes unmanned aerial vehicle processing module, ultrasonic wave generation module and unmanned aerial vehicle communication module.
Optionally, the unmanned aerial vehicle that charges automatically still includes power module, power module can be independent of rechargeable battery designs or power module can with rechargeable battery body designs, promptly rechargeable battery can be responsible for power module's power supply function.
The power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are respectively arranged on the unmanned aerial vehicle body, and the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are not unique in arrangement form and are not unique in arrangement position, so that the arrangement positions of the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are not shown in the attached figure 1 of the embodiment of the utility model, and in specific implementation, the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module can be respectively arranged at any; generally, power module, unmanned aerial vehicle processing module, ultrasonic wave generation module and unmanned aerial vehicle communication module are the same with the setting position that unmanned aerial vehicle flies the accuse.
The power supply module is used for being the unmanned aerial vehicle processing module the ultrasonic wave generation module and the unmanned aerial vehicle communication module carry out direct power supply or indirect power supply, wherein, direct power supply means that the power supply module is direct to the unmanned aerial vehicle processing module, and/or the ultrasonic wave generation module and/or the unmanned aerial vehicle communication module supplies power, and indirect power supply means that the power supply module supplies power to the unmanned aerial vehicle processing module one of them or more module in ultrasonic wave generation module and the unmanned aerial vehicle communication module supplies power, supplies power to the module of not supplying power through the module that has supplied power again. In the embodiment of the utility model provides an in, the utility model discloses the power module output is 5V.
Optionally, the power module can set up as an organic whole with the rechargeable battery of unmanned aerial vehicle body, promptly by the rechargeable battery of unmanned aerial vehicle body to unmanned aerial vehicle processing module the ultrasonic wave takes place module and unmanned aerial vehicle communication module and supplies power.
Specifically, the ultrasonic wave generation module comprises an ultrasonic wave emitting head 201, and the ultrasonic wave emitting head 201 is arranged at the bottom of the unmanned aerial vehicle body 1; the reason why the ultrasonic wave generating head 201 is arranged at the bottom of the unmanned aerial vehicle body 1 is that when the unmanned aerial vehicle body 1 flies, the shutdown platform is positioned below the unmanned aerial vehicle body 1, and correspondingly, the ultrasonic wave receiving head arranged on the shutdown platform faces the air; in order to guarantee that the ultrasonic receiving head can be better the receipt ultrasonic signal, ultrasonic wave generating head 201 sets up 1 bottom of unmanned aerial vehicle body. Optionally, the surface of the ultrasonic wave generating head 201 is a hemisphere surface, so as to obtain an ultrasonic wave spatial emission angle close to 180 °.
Fig. 3 shows the utility model discloses automatic unmanned aerial vehicle circuit structure that charges schematic diagram, it is to explain, the utility model discloses automatic unmanned aerial vehicle circuit structure that charges has more implementation, and fig. 3 of the accompanying drawing only shows one of them implementation structure.
The power supply module of the embodiment of the utility model is electrically connected with the ultrasonic wave generation module, and the ultrasonic wave generation module is used for sending out ultrasonic wave signals through the ultrasonic wave generation head 201; the unmanned aerial vehicle communication module is used for receiving the position signal sent by the charging apron communication module and feeding back the corresponding position signal to the unmanned aerial vehicle processing module; the utility model discloses power module and unmanned aerial vehicle processing module electric connection, unmanned aerial vehicle processing module are used for receiving the positional information about unmanned aerial vehicle that wireless communication module transmitted, and unmanned aerial vehicle processing module is to unmanned aerial vehicle's positional information processing back, calculates the skew direction and the skew distance of unmanned aerial vehicle and accurate descending position, and according to skew direction and skew distance send corresponding control signal to unmanned aerial vehicle flight control to break away from manual control's mode, make unmanned aerial vehicle fly the accuse basis control signal controls unmanned aerial vehicle body 1 and removes to accurate descending position. This unmanned aerial vehicle that charges automatically breaks away from manual control at the descending in-process, but the automatic descending makes this unmanned aerial vehicle that charges have higher security in the descending stage to the settlement position on charging the air park.
Following is directed at the utility model discloses the module that automatic unmanned aerial vehicle that charges related explains one by one.
A power supply module: the power module generally is rechargeable battery, and is concrete, and the power module can integrate to the rechargeable battery of unmanned aerial vehicle body in, generally, battery voltage is 5V or 12V. In the concrete implementation, power module also can be the same structure with the rechargeable battery of unmanned aerial vehicle body.
An ultrasonic wave generation module: fig. 4 shows a schematic circuit diagram of an ultrasonic generation module according to an embodiment of the present invention. The utility model discloses ultrasonic wave generation module still includes pulse generator, switching triode Q1 and well zhou zhong transformer TS.
One end of a first primary of the middle transformer TS is a low-voltage input end, the low-voltage input end is electrically connected with the power supply module (5V), and the other end of the first primary of the middle transformer TS is electrically connected with a collector of the switching triode Q1;
the base electrode of the switching triode Q1 is connected with the output end of the pulse signal generator, the emitter electrode of the switching triode Q1 is grounded, and in order to adjust the base electrode conducting voltage of the switching triode Q1, a first protective resistor R1 is connected to the base electrodes of the pulse signal generator and the switching triode Q1.
The two ends of the second primary winding of the middle transformer TS are electrically connected to the two poles of the ultrasonic transmitter 201.
Optionally, when the switching transistor Q1 is turned on, the second primary stage of the middle transformer TS generates a positive voltage correspondingly due to a rising edge of the first primary stage, and when the switching transistor Q1 is turned off, the second primary stage of the middle transformer TS generates a negative voltage correspondingly due to a falling edge of the first primary stage, at this time, the ultrasonic transmitter 201 driven by the positive voltage and the negative voltage generates a positive step signal and a negative step signal instead of generating an ideal ultrasonic signal composed of unidirectional step signals, in order to enable the ultrasonic transmitter 201 to transmit an ideal ultrasonic signal, optionally, the ultrasonic generating module further includes a ground resistor R3, and one of poles of the ultrasonic transmitter 201 is grounded through the ground resistor R3. With this embodiment, the voltage in one direction of the second primary side of the intermediate transformer TS is grounded, so that the ultrasonic transmitter head 201 cannot be driven, and the ultrasonic transmitter head 201 can transmit an ideal ultrasonic signal.
Similarly, in order to regulate the voltage across the ultrasound transmitter head 201 and protect the ultrasound transmitter head 201, a second protection resistor R2 is connected in parallel to the two poles of the ultrasound transmitter head 201.
Optionally, the utility model discloses pulse generator is used for producing one-way pulse signal, through pulse signal control switch triode Q1's break-make. Alternatively, the pulse signal generator may be a conventional pulse signal generator, and in addition, the pulse signal generator may be integrated into the drone processing module. Specifically, a base electrode of the switching triode Q1 is connected to one of the general input/output interfaces of the unmanned aerial vehicle processing module, and the high and low levels of the general input/output interface are controlled in a software control mode of the unmanned aerial vehicle processing module; in order to ensure the switching speed of the general input/output interface, the processing speed of the unmanned aerial vehicle processing module needs to reach a certain level, and the bus speed needs to meet corresponding conditions. Optionally, correspondingly, the utility model discloses ultrasonic emission head 201's ultrasonic emission frequency is 40 ± 2KHz, consequently, pulse signal's frequency also should be 40 ± 2 KHz.
Unmanned aerial vehicle communication module: the utility model discloses unmanned aerial vehicle communication module is used for receiving the unmanned aerial vehicle's that charges position information that the relevant automation that charges that parking apron communication module sent. Specifically, unmanned aerial vehicle communication module can be short range communication module, also can be long-range communication module. It is common, short range communication module has bluetooth communication module, WIFI communication module, loRa wireless communication module etc. and long-range communication module has satellite communication module, cellular communication module etc.. Unmanned aerial vehicle communication module and unmanned aerial vehicle processing module electric connection will be related to the information transmission to the unmanned aerial vehicle processing module of the automatic unmanned aerial vehicle position that charges.
Optionally, because the utility model discloses unmanned aerial vehicle communication module mainly used receives the position information about the automatic unmanned aerial vehicle that charges that parking apron communication module sent, consequently, unmanned aerial vehicle communication module can be wireless receiving module to save manufacturing cost.
Unmanned aerial vehicle processing module: unmanned aerial vehicle processing module is used for receiving the unmanned aerial vehicle's that sends about the automatic unmanned aerial vehicle that charges positional information, the accessible positional information sends control signal to unmanned aerial vehicle flight control, replaces manual remote control operation, makes the automatic unmanned aerial vehicle that charges can descend on the preset position on charging the air park. Optionally, unmanned aerial vehicle processing module includes the treater, and the treater can be for STM32, 51 singlechip etc. have enough general purpose input/output interface's equipment, and is specific, the treater model is STM32F407VGT singlechip chip for the model.
In concrete implementation, unmanned aerial vehicle processing module still can integrate to unmanned aerial vehicle in flying to control, because the utility model discloses unmanned aerial vehicle processing module only need with unmanned aerial vehicle communication module electric connection to when impulse generator integrates to unmanned aerial vehicle processing module, unmanned aerial vehicle processing module and ultrasonic module electric connection, consequently, the utility model discloses the required interface quantity of unmanned aerial vehicle processing module is less, can comparatively easy integration to unmanned aerial vehicle fly to control.
It should be noted that, the position information about the automatic charging unmanned aerial vehicle, specifically, the position information about the automatic charging unmanned aerial vehicle may be the absolute coordinate of the current automatic charging unmanned aerial vehicle, and may also be the relative coordinate of the current automatic charging unmanned aerial vehicle.
The embodiment of the utility model provides an automatic unmanned aerial vehicle that charges, when this automatic unmanned aerial vehicle that charges is close to the charging air park and needs to descend, ultrasonic wave generation module is to the ultrasonic signal of charging air park direction transmission, and the charging air park is according to this automatic unmanned aerial vehicle that charges is located is judged to ultrasonic signal, and calculates the relative coordinate of automatic unmanned aerial vehicle that charges according to the automatic unmanned aerial vehicle landing position that predetermines; then the automatic charging unmanned aerial vehicle receives information which is from the charging parking apron and is related to the relative coordinate of the automatic charging unmanned aerial vehicle through an unmanned aerial vehicle communication module, and generates a corresponding control signal based on the relative coordinate, wherein the control signal is used for replacing a remote control signal generated in manual control; after the unmanned aerial vehicle flight control receives the control signal, the unmanned aerial vehicle capable of automatically charging is controlled to move towards the corresponding direction. Repeating the above processes until the automatic charging unmanned aerial vehicle lands at a landing position of the automatic charging unmanned aerial vehicle preset on the charging parking apron; through set up the plate electrode that charges on charging air park's relevant position, can make automatic unmanned aerial vehicle that charges realize the automatic function of charging after descending.
It should be noted that, the charging apron can control the motion acceleration of the automatic charging unmanned aerial vehicle according to the corresponding position of the automatic charging unmanned aerial vehicle while guiding the position of the automatic charging unmanned aerial vehicle, and the motion acceleration of the automatic charging unmanned aerial vehicle is lower as the charging apron is closer to the position of the automatic charging unmanned aerial vehicle, so that the automatic charging unmanned aerial vehicle can land as stably as possible.
Charging the parking apron:
fig. 5 shows the three-dimensional structure schematic diagram of the charging apron of the embodiment of the present invention, and fig. 6 shows the charging circuit schematic diagram of the charging apron of the embodiment of the present invention.
The charging apron comprises an apron platform 2, a charging power supply module, a charging positive electrode plate 701 and a charging negative electrode plate 702 which are insulated from each other;
the charging positive electrode plate 701 and the charging negative electrode plate 702 are symmetrically arranged on the top surface of the shutdown platform 2, and the charging power supply module is electrically connected with the charging power supply module and the charging positive electrode plate respectively.
Optionally, the utility model discloses the power module that charges is solar energy power module, solar energy power module includes photovoltaic board, photovoltaic charge controller and external rechargeable battery. The photovoltaic panel performs photoelectric conversion on solar energy, and the photovoltaic charging controller performs power tracking on the photovoltaic panel and simultaneously charges the external rechargeable battery; two electrodes of the external charging battery are respectively connected with the charging positive electrode plate 701 and the charging negative electrode plate 702, and power is supplied to the charging positive electrode plate 701 and the charging negative electrode plate 702.
Fig. 7 shows the structural schematic diagram of the rectangular charging electrode plate of the embodiment of the present invention, and fig. 8 shows the structural schematic diagram of the semicircular charging electrode plate of the embodiment of the present invention.
In the structure of the charging electrode plate shown in fig. 7, the charging positive electrode plate 701 and the charging negative electrode plate 702 are both rectangular structures, and the charging positive electrode plate 701 and the charging negative electrode plate 702 are symmetrically arranged on the shutdown platform 2; assuming that the drone has four charging legs 5, the charging legs of the drone are evenly distributed on the drone along a circumference (said circumference having a centre of a circle); when unmanned aerial vehicle descends to the shut down platform on, centre of a circle position and central point coincidence, then the charging machine foot can be corresponding to fall on the plate electrode. According to the structure of the automatic charging unmanned aerial vehicle, the charging electrode does not need to be distinguished by the charging pin, so that the landing posture of the unmanned aerial vehicle can be diversified, and the charging pin and the charging positive electrode plate 701 and the charging negative electrode plate 702 are in contact with each other to realize the charging of the unmanned aerial vehicle.
In the structure of the charging electrode plate shown in fig. 8, the charging positive electrode plate and the charging negative electrode plate are symmetrical about a central point and are both in a semicircular structure. For the charging electrode plate structure shown in fig. 7, because the structure of charging electrode plate and the distribution of unmanned aerial vehicle's the stabilizer blade that charges are more adapted, unmanned aerial vehicle when descending to the central point, unmanned aerial vehicle's the overwhelming majority gesture can both realize charging, under this embodiment, can realize charging when unmanned aerial vehicle descends, and the possibility that needs secondary operation is lower, has better practicality.
Further, in order to guide the unmanned aerial vehicle to land, fig. 9 shows a schematic structural diagram of the apron processing module according to an embodiment of the present invention.
The charging apron is also provided with an apron processing module, more than three ultrasonic receiving modules and an apron communication module;
the more than three ultrasonic receiving modules are respectively and electrically connected with the apron processing module, and the apron communication module is electrically connected with the apron processing module;
any one of the three or more ultrasonic receiving modules includes an ultrasonic receiving head 301;
the ultrasonic receiving heads 301 are arranged on the shutdown platform, and the ultrasonic receiving heads 301 of the more than three ultrasonic receiving modules are not arranged on the same straight line.
Fig. 10 shows a schematic circuit diagram of an ultrasonic receiving module according to an embodiment of the present invention. The utility model discloses ultrasonic receiving module establishes based on CX20106A chip. Specifically, the resistance of pin 5 of CX20106A determines the center frequency of the received ultrasonic signal, and the resistance of R5 may be 200k, and the center frequency of the ultrasonic signal received by the ultrasonic receiving head 301 is 40 KHz. When the ultrasonic receiving head 301 receives a 40KHz signal, a low level down pulse is generated at the 7 th pin of the CX20106A chip, and because the 7 th pin of the CX20106A chip is electrically connected with the apron processing module, the low level down pulse can be acquired by the apron processing module, namely when the ultrasonic receiving head receives a 40KHz signal, the apron processing module can acquire a trigger signal on the corresponding general input/output pin.
Specifically, the apron processing module can be built based on stm32, arm and other processor chips, and can refer to related data in the prior art.
Specifically, the apron communication module may be a short-range communication module or a long-range communication module. It is common, short range communication module has bluetooth communication module, WIFI communication module, loRa wireless communication module etc. and long-range communication module has satellite communication module, cellular communication module etc..
The parking apron processing module judges the distance between the ultrasonic unmanned aerial vehicle and the ultrasonic receiving heads through the trigger signal, and can acquire the relative position between the ultrasonic unmanned aerial vehicle and the parking platform by synthesizing the feedback data of the plurality of ultrasonic receiving heads; the relative position is then sent to the ultrasonic drone through the apron communication module.
Optionally, the wireless communication actions related to the charging apron are all sending instructions, so that the apron communication module is a wireless sending module, and the manufacturing cost of the charging apron is saved.
Through the above setting mode, this charging air park can guide the automatic landing of unmanned aerial vehicle to the central point of shutting down the platform on, unmanned aerial vehicle's the corresponding and charging electrode board contact of stabilizer blade that charges to realize the automatic function of charging.
As shown in fig. 5, optionally, in order to protect the unmanned aerial vehicle in the charging state, the charging apron further includes an apron box 700 with an open top surface, a lifting driving module 704, an opening and closing cover plate, and an opening and closing driving module;
the parking platform 301 is arranged inside the parking apron box 700, and the lifting driving module drives the parking platform 301 to lift in the parking apron box 700;
the opening and closing cover plate is arranged on the top surface of the parking apron box body, and the opening and closing driving module drives the opening and closing cover plate to be opened or closed.
Correspondingly, the charging power supply module comprises a photovoltaic panel, and the photovoltaic panel is arranged on the top surface of the opening and closing cover plate.
Optionally, the charging apron further includes a plurality of supporting slide rails 703, and any supporting slide rail 703 of the plurality of supporting slide rails 703 is disposed in the apron box 700 along the vertical direction; the shutdown platform 301 is matched with the plurality of support slide rails 703, and the lifting driving module 704 drives the shutdown platform 301 to move along the plurality of support slide rails 703. Specifically, the lifting driving module 704 may be a driving module with an output end moving linearly, such as a motor screw mechanism, a linear motor mechanism, a hydraulic cylinder mechanism, and the like.
Optionally, the opening and closing cover plate includes a first opening and closing cover plate 706 and a second opening and closing cover plate 707, and the opening and closing driving module includes a first opening and closing driving module 708 and a second driving module 709;
the charging parking apron further comprises a plurality of opening and closing guide rails 705, any opening and closing guide rail of the plurality of opening and closing guide rails 705 is arranged on the top surface of the parking apron box body 700 along the horizontal direction, and the first opening and closing cover plate 706 and the second opening and closing cover plate 707 are respectively matched on the plurality of opening and closing guide rails 705;
the first opening and closing driving module 708 drives the first opening and closing cover plate 706 to move along the plurality of opening and closing guide rails 705;
the second opening and closing driving module 709 drives the second opening and closing cover plate 707 to move along the plurality of opening and closing guide rails 705.
It should be noted that, the first opening/closing driving module 708 and the second opening/closing driving module 709 may adopt a driving module whose output end is linear motion in the prior art, and the embodiment of the present invention does not specially limit the driving module.
In a specific implementation, the photovoltaic panel may be disposed on the first and second openable cover plates 706 and 707.
The method for guiding the unmanned aerial vehicle to land and charge comprises the following steps:
fig. 11 shows the flowchart of the method for guiding the unmanned aerial vehicle to land and charge, which includes the following steps:
s101: sending a cover plate opening signal to the cover plate opening and closing module;
the cover plate opening signal enables the cover plate opening and closing driving module to open the top surface of the parking apron box body by driving the cover plate to move before the unmanned aerial vehicle lands; generally, a cover plate end point sensor is arranged at the cover plate movement end point position, and after the cover plate is opened in place, the cover plate end point sensor is triggered to generate a feedback signal to the cover plate opening and closing driving module, so that the cover plate opening and closing driving module stops driving.
S102: sending a platform lifting signal to the lifting driving module;
after the cover plate is opened, the platform rises by a signal to enable the lifting driving module to drive the parking platform to rise to the top surface of the box body of the parking apron, and the parking platform can be used for an unmanned aerial vehicle to land. Generally, a platform end point sensor is arranged at the motion end point position of the shutdown platform, and after the shutdown platform rises to the right position, the platform end point sensor is triggered to generate a feedback signal to the lifting driving module, so that the lifting driving module stops driving.
S103: offset coordinate Q for calculating preset landing point of unmanned aerial vehicle relative to shutdown platform in real time△0(x△0,y△0,z△0) Sending the data to the unmanned aerial vehicle until the unmanned aerial vehicle lands on a preset landing point of the shutdown platform, and respectively contacting a charging positive electrode plate and a charging negative electrode plate on the shutdown platform with at least one charging support leg on the unmanned aerial vehicle;
the offset coordinate Q△0(x△0,y△0,z△0) Such that the drone is based on the offset coordinate Q△0(x△0,y△0,z△0) Adjusting the movement direction;
fig. 12 shows a communication cycle flow diagram according to an embodiment of the present invention. Specifically, the offset coordinate Q of the unmanned aerial vehicle relative to the preset landing point of the shutdown platform is calculated in real time△0(x△0,y△0,z△0) And send to unmanned aerial vehicle, descend to until unmanned aerial vehicle halt the platform and predetermine on the landing point, just it charges anodal electrode plate on the platform and charge negative pole electrode plate respectively with at least one charging support foot contact on the unmanned aerial vehicle includes a plurality of communication cycles, arbitrary communication cycle in a plurality of communication cycles includes following step:
s201: parking apron processing module self-T0Starting timing, and obtaining the a-th ultrasonic transmission time T when receiving the a-th stop signal sent by the a-th ultrasonic receiving modulea-T；
After the parking platform is lifted to the top surface of the parking apron box body, the unmanned aerial vehicle can be landed and guided.
At the beginning of each communication cycle, the apron processing module is from T0Start timing at all times, synchronous, ultrasonic unmanned aerial vehicle is at T0The ultrasonic signal is transmitted from time to time.
In order to ensure the time synchronization between the apron processing module and the ultrasonic unmanned aerial vehicle, optionally, the apron processing module is calibrated at T based on the apron synchronous clock0Starting timing at the moment; ultrasonic signal is based on ultrasonic wave unmanned aerial vehicle synchronous clock timing on the ultrasonic wave unmanned aerial vehicle is at T0Sending out at any moment; the parking apronAnd the synchronous clock is the same as the synchronous clock time calibration of the ultrasonic unmanned aerial vehicle. Through the consistency of the time of the parking apron synchronous clock and the ultrasonic unmanned aerial vehicle synchronous clock, the T of the parking apron processing module for starting timing is ensured0T for starting to send ultrasonic waves with ultrasonic unmanned aerial vehicle at any moment0The time is the same. Through this mode of setting up, can guarantee the time synchronization of ultrasonic wave unmanned aerial vehicle and air park treater, and the time synchronization is not established on the basis of intercommunication, can break away from the communication among the concrete implementation and carry out the time synchronization, has good practicality.
Ultrasonic unmanned plane at T0Ultrasonic signals sent at any moment are diffused in a fan shape and are received by an ultrasonic receiving module on the apron, specifically, the ultrasonic receiving module comprises an ultrasonic receiving head, and the ultrasonic receiving head can be used for acquiring the ultrasonic signals; the ultrasonic wave module acquires an ultrasonic wave signal based on the ultrasonic wave receiving head, then converts the ultrasonic wave signal into a stop signal through modes such as analog-to-digital conversion and sends the stop signal to the apron processing module, and the apron processing module obtains the ultrasonic wave transmission time after receiving the stop signal.
In order to confirm the position of ultrasonic wave unmanned aerial vehicle, the quantity of ultrasonic wave receiving module is more than three groups, and for the convenience of description in the embodiment of the utility model provides an, the quantity of ultrasonic wave receiving module is s group, and s is more than or equal to 3, and s is the integer. The s groups of ultrasonic modules comprise a first ultrasonic receiving module, a second ultrasonic receiving module, … … and an a-th ultrasonic receiving module, wherein a is 1,2, …, s-1, s. It should be noted that, in order to prevent ambiguity caused by applying arabic numerals to naming, a in the a-th ultrasonic receiving module in the embodiment of the present invention is replaced by a lowercase Chinese character number.
In particular, the apron treatment module is self-T0Starting timing, and obtaining the a-th ultrasonic transmission time T when receiving the a-th stop signal sent by the a-th ultrasonic receiving modulea-T; since the value number of a is s, s ultrasonic transmission times can be obtained in the process, specifically, each ultrasonic transmission time is opposite to the s groups of ultrasonic modulesThe corresponding group of ultrasonic modules corresponds.
S202: an apron processing module calculates the a real-time distance D between the ultrasonic unmanned aerial vehicle and the a ultrasonic receiving modulea＝v(Ta-T0) Wherein v is the propagation velocity of the ultrasonic signal;
according to the transmission principle of the sound wave, the transmission distance of the sound wave is related to the propagation time and the propagation medium, in the embodiment of the utility model, the ultrasonic signal is propagated in the air, and the sound velocity v propagation speed can be set to be 340 m/s; in specific implementation, the actual propagation speed may slightly deviate according to the air composition difference, and the actual propagation speed may be adjusted according to actual conditions in specific implementation.
Corresponding to the a-th ultrasonic receiving module, the transmission distance (namely the a-th real-time distance) from the ultrasonic wave emitted by the ultrasonic unmanned aerial vehicle to the ultrasonic wave receiving head of the a-th ultrasonic receiving module is Da＝v(Ta-T0)。
In the specific calculation, the a-th real-time distances of all the ultrasonic receiving modules need to be calculated in a traversing mode so as to obtain the theoretical distance from the ultrasonic unmanned aerial vehicle to each ultrasonic receiving module.
S203: an apron processing module calculates the number of the ultrasonic unmanned aerial vehicle at T according to the a-th real-time distance of s0Spatial position of time Q0(x0,y0,z0)；
In step S202, the theoretical distances from the ultrasonic drone to each ultrasonic receiving module, that is, the number of the a-th real-time distances, is calculated to be S.
Fig. 13 shows the spatial position Q of the embodiment of the present invention0(x0,y0,z0) And the flow of the calculation method is schematic. Optionally, the apron processing module calculates the T-th distance of the ultrasonic unmanned aerial vehicle based on the s-th real-time distance0Spatial position of time Q0(x0,y0,z0) The method comprises the following steps:
s301: traversing and selecting any three a real-time distances from the s a real-time distancesDistance construction of one-time combination, the number of the one-time combination is
In the three-dimensional space, the distance from a known point to the other three non-collinear known points can be determined, and the unknown point in the space can be unknown, therefore, in the embodiment of the present invention, the total number of a real-time distances is s, the total number of a real-time distances is traversed, selected, and any three a real-time distances are constructed to form a combination, and according to the combination principle, the number of the combinations of the combination is one and the same
A plurality of; for ease of reference, the three a-th real-time distances in a time combination are named z1，z2，z3。
S302: solving the ultrasonic unmanned aerial vehicle at T based on the primary combination0Primary spatial position coordinates P (i, j, k) of the time instants;
specifically, the ultrasonic unmanned aerial vehicle is obtained at T based on the primary combination0The primary spatial position coordinates P (i, j, k) of a time instant comprise the steps of:
constructing a system of space coordinate distance equations for the primary space position coordinates P (i, j, k):
wherein z is1The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)1,j1,k1)，z2The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)2,j2,k2)，z3The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)3,j3,k3)；
And solving the primary space position coordinate P (i, j, k) based on the space coordinate distance equation system.
It should be noted that, since the source of the operation data of P (i, j, k) is the a-th real-time distance obtained in step S302, on one hand, the a-th real-time distance is affected by the time accuracy of the synchronous clock, and the a-th real-time distance has data errors in most cases, on the other hand, the transmission of the ultrasonic signal and the related electric signal in the circuit also requires time, and the a-th ultrasonic transmission time T obtained by the processor moduleaT is also not absolutely exact, so that it can be seen that if the ultrasonic drone position is found by means of only one primary spatial position coordinate, it is not exact, and therefore, optionally, the number of ultrasonic receiving modules should be greater than or equal to 4 groups, and when the number of ultrasonic receiving modules is 4 groups, 4 primary spatial position coordinates can be provided; when the number of the ultrasonic wave receiving modules is 5 groups, 10 primary spatial position coordinates can be provided.
S303: traversing and solving primary space position coordinates of all primary combinations, wherein the mean value of the primary space position coordinates of all the primary combinations is the sound wave ultrasonic wave unmanned aerial vehicle at T0Spatial position of time Q0(x0,y0,z0)。
The primary space position coordinate that finds in step S302 all is error, in order to reduce the error, the embodiment of the utility model provides a mode through seeking the mean value to all primary space position coordinates reachs sound wave ultrasonic wave unmanned aerial vehicle is at T0Spatial position of time Q0(x0,y0,z0)。
S204: the parking apron processing module is calculated at T0At the moment, the offset coordinate Q of the ultrasonic unmanned aerial vehicle relative to the preset landing coordinate Q (x, y, z)△0(x△0,y△0,z△0)；
Specifically, a preset landing coordinate Q (x, y, z) is set in the space in a preset manner. In general, the apron plane may be taken as the 0 plane in the z direction, and thus, optionally, the preset landing coordinates are Q (x, y, 0).
Therefore, the calculation formula of the offset coordinate is as follows
Q△0(x△0,y△0,z△0)＝Q0(x0,y0,z0)-Q(x,y,z)
The offset coordinate is represented at T0The relative position of ultrasonic wave unmanned aerial vehicle for predetermineeing the descending position constantly.
S205: the apron processing module transfers the offset coordinate Q based on the apron communication module△0(x△0,y△0,z△0) And sending the ultrasonic wave unmanned aerial vehicle.
It should be noted that the apron processing module according to the embodiment of the present invention only shifts the coordinate Q△0(x△0,y△0,z△0) And sending the data to the ultrasonic unmanned aerial vehicle, and processing subsequent execution operation by the ultrasonic unmanned aerial vehicle.
Different processing methods may be available for different ultrasonic drones.
Optionally, in the embodiment of the present invention, the ultrasonic unmanned aerial vehicle is to the offset coordinate Q△0(x△0,y△0,z△0) The processing method comprises the following steps:
the offset coordinate Q△0(x△0,y△0,z△0) The ultrasonic unmanned aerial vehicle communication module of the ultrasonic unmanned aerial vehicle receives the signal and transmits the signal to the ultrasonic unmanned aerial vehicle processing module;
ultrasonic unmanned aerial vehicle processing module is based on offset coordinate Q△0(x△0,y△0,z△0) Generating a control signal and sending the control signal to the ultrasonic unmanned aerial vehicle flight control of the ultrasonic unmanned aerial vehicle; it should be noted that, control signal's generation logic has more mode, can set for according to different ultrasonic wave unmanned aerial vehicle, and is optional, the utility model discloses control signal's generation logic is:
judging the offset coordinate Q△0(x△0,y△0,z△0) X of△0And y△0Is it 0?
At said x△0And y△0When not 0, the controlThe control signal comprises a translation control signal; at said x△0And y△0And when the value is 0, the control signal comprises a falling control signal.
Specifically, the translation control signal can control an ultrasonic unmanned aerial vehicle driving module of the ultrasonic unmanned aerial vehicle through the flight control of the ultrasonic unmanned aerial vehicle, so that the ultrasonic unmanned aerial vehicle can translate to a set position; descending control signal accessible ultrasonic wave unmanned aerial vehicle flies to control ultrasonic wave unmanned aerial vehicle drive module to ultrasonic wave unmanned aerial vehicle, makes ultrasonic wave unmanned aerial vehicle descend to setting for on the position.
Correspondingly, in corresponding control signal, still include the acceleration logic that generates based on presetting the logic to guarantee the stationarity of ultrasonic wave unmanned aerial vehicle in the motion process.
Ultrasonic wave unmanned aerial vehicle flies to control based on control signal generates the drive signal who is used for driving ultrasonic wave unmanned aerial vehicle drive module, drive signal is so that ultrasonic wave unmanned aerial vehicle drive module drives ultrasonic wave unmanned aerial vehicle is according to presetting acceleration to presetting the direction motion.
As can be seen from the above description, in one communication cycle, the apron receives the ultrasonic signal sent by the ultrasonic unmanned aerial vehicle, and calculates the offset coordinate of the ultrasonic unmanned aerial vehicle relative to the preset landing position, where the offset coordinate can provide a reference for the ultrasonic unmanned aerial vehicle to move when the ultrasonic unmanned aerial vehicle lands, and accordingly, in order to avoid that the ultrasonic signal in one communication cycle is received in the subsequent communication cycles, an appropriate time interval is maintained between two adjacent communication cycles, specifically, the interval execution time of two adjacent communication cycles in the plurality of communication cycles is t; the effective propagation distance of ultrasonic signal after sending from ultrasonic wave unmanned aerial vehicle is r, interval execution time t satisfies the condition
Usually, the effective propagation distance of the ultrasonic signal emitted by the ultrasonic wave generating head applied to the civil-grade ultrasonic unmanned aerial vehicle is about 10m, correspondingly,
as the subsequent processing of the apron processor module and the interaction between the apron and the ultrasonic drone are also involved, optionally t is 0.1 s.
S104: sending a platform landing signal to the lifting driving module;
the platform landing signal makes the lift drive module be in unmanned aerial vehicle descends to the driving shutdown platform descends to inside the parking apron box behind the predetermined landing point of shutdown platform. Generally, a platform end point sensor is arranged at a descending end point position of the driving shutdown platform, and the platform end point sensor is used for generating a feedback signal after the shutdown platform descends to the end point position, so as to control the lifting driving module to stop moving.
S105: sending a cover plate closing signal to the cover plate opening and closing module;
the apron closes the signal so that the apron opens and shuts drive module and is in unmanned aerial vehicle opens air park box top surface through the motion of drive apron before descending. Generally, a cover closing sensor is arranged at a position from the cover moving to the closing end point, and the cover closing sensor is used for generating a feedback signal after the cover is closed to control the cover opening and closing module to stop moving.
S106: and sending a power supply starting signal to the charging power supply module.
The power supply starting signal enables the charging power supply module to respectively discharge the charging positive electrode plate and the charging negative electrode plate.
Unmanned aerial vehicle charging system:
correspondingly, the embodiment of the utility model provides an unmanned aerial vehicle charging system, unmanned aerial vehicle charging system is including charging air park and above arbitrary one automatic unmanned aerial vehicle that charges.
The utility model provides an automatic charging unmanned aerial vehicle and unmanned aerial vehicle charging system, this automatic charging unmanned aerial vehicle can realize parking automatic charging function through charging pin; the charging pins are specially designed to ensure that the charging unmanned aerial vehicle can be charged only by setting the charging pins on the position, and the charging pins do not need to distinguish the positive electrode and the negative electrode; utilize ultrasonic signal to supply the air park that charges to acquire this automatic unmanned aerial vehicle's that charges position to realize this automatic unmanned aerial vehicle that charges and descend to the function of charging the air park and predetermineeing descending position, automatic descending charges automatically, and degree of automation is high. Based on this unmanned aerial vehicle charging system that automatic unmanned aerial vehicle that charges established, can very big degree simplified the required action of unmanned aerial vehicle charging, realize that unmanned aerial vehicle's high efficiency charges, have good practicality.
The above detailed description is made on an automatic charging unmanned aerial vehicle and an unmanned aerial vehicle charging system provided by the embodiment of the present invention, and the specific examples are applied herein to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (8)
1. An automatic charging unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle body and charging support legs;
the number of the charging support legs is more than four, the number of the charging support legs is even, and all the charging support legs are uniformly arranged below the unmanned aerial vehicle body along a circumference;
the charging support leg comprises a support leg body and a charging terminal, the upper end of the support leg body is arranged on the unmanned aerial vehicle body, and the charging terminal is arranged at the lower end of the support leg body;
the unmanned aerial vehicle body has rechargeable battery, charging terminal with rechargeable battery electric connection.
2. The automatic charging drone of claim 1, wherein the rechargeable battery has a charging positive pole and a charging negative pole;
the charging terminal is electrically connected with the charging anode based on a first diode, the anode of the first diode is electrically connected with the charging terminal, and the cathode of the first diode is electrically connected with the charging anode;
the charging terminal is electrically connected with the charging cathode based on a second diode, the anode of the second diode is electrically connected with the charging cathode, and the cathode of the second diode is electrically connected with the charging terminal.
3. The automatic charging drone of claim 1, further comprising a drone processing module, an ultrasonic generation module, and a drone communication module;
the unmanned aerial vehicle processing module, the ultrasonic wave generation module and the unmanned aerial vehicle communication module are respectively arranged on the unmanned aerial vehicle body;
the unmanned aerial vehicle body is provided with an unmanned aerial vehicle flight control module, the unmanned aerial vehicle flight control module is electrically connected with the unmanned aerial vehicle processing module, and the unmanned aerial vehicle processing module is electrically connected with the unmanned aerial vehicle communication module;
the ultrasonic wave generation module comprises an ultrasonic wave emitting head, and the ultrasonic wave generating head is arranged at the bottom of the unmanned aerial vehicle body.
4. The automatic charging drone of claim 3, wherein the ultrasonic generation module further comprises a pulse signal generator, a switching transistor, and a mid-cycle transformer;
one end of the first primary of the middle transformer is a low-voltage input end, and the other end of the first primary of the middle transformer is electrically connected with a collector of the switching triode;
the base electrode of the switching triode is electrically connected with the output end of the pulse signal generator, and the emitting electrode of the switching triode is grounded;
and two ends of the second primary of the middle transformer are respectively and electrically connected with the two electrodes of the ultrasonic transmitting head.
5. The automatic charging drone of claim 4, wherein the ultrasound generation module further comprises a ground resistance through which one of the electrodes of the ultrasound generation head is grounded.
6. The automatic charging drone of claim 4, wherein the drone processing module includes a processor having a number of general purpose input output interfaces, one of which is electrically connected with the drone flight control;
the pulse signal generator is internally arranged in the processor, and one general input/output interface of the plurality of general input/output interfaces is the output end of the pulse signal generator.
7. The automatic charging drone of claim 3, wherein the drone communication module is a wireless reception module.
8. An unmanned aerial vehicle charging system, comprising a charging apron and an automatic charging unmanned aerial vehicle of any one of claims 1 to 7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829910A (en) * | 2021-09-24 | 2021-12-24 | 苏州臻迪智能科技有限公司 | Charging accessory and unmanned aerial vehicle |
| CZ309651B6 (en) * | 2021-12-21 | 2023-06-14 | City-Air-Mobility s.r.o. | Equipment for charging unmanned multicopters |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829910A (en) * | 2021-09-24 | 2021-12-24 | 苏州臻迪智能科技有限公司 | Charging accessory and unmanned aerial vehicle |
| CZ309651B6 (en) * | 2021-12-21 | 2023-06-14 | City-Air-Mobility s.r.o. | Equipment for charging unmanned multicopters |
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Effective date of registration: 20230320 Address after: Room 1-101, Incubator Building, No. 1, Guangxi University Science Park, No. 1, Gaoxin 2nd Road, Nanning, Guangxi Zhuang Autonomous Region, 530000 Patentee after: Guangxi flux Energy Technology Co.,Ltd. Address before: No. zh27, 2nd floor, building 2, electronic industrial park, No. 8 Gaoke Road, high tech Zone, Nanning, Guangxi 530003 Patentee before: Guangxi Chengxin Huichuang Technology Co.,Ltd. |