CN211223919U - Patrol and examine unmanned aerial vehicle's battery charging structure - Google Patents

Patrol and examine unmanned aerial vehicle's battery charging structure Download PDF

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Publication number
CN211223919U
CN211223919U CN201922087141.2U CN201922087141U CN211223919U CN 211223919 U CN211223919 U CN 211223919U CN 201922087141 U CN201922087141 U CN 201922087141U CN 211223919 U CN211223919 U CN 211223919U
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battery
aerial vehicle
unmanned aerial
box
charging structure
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王伟
刘茂丰
陆昱丞
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Nanjing University of Information Science and Technology
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Nanjing University of Information Science and Technology
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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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

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  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The utility model discloses a battery charging structure of an inspection unmanned aerial vehicle, which comprises n battery bins, n battery boxes, a mechanical arm for operating the battery boxes, a control module for driving the mechanical arm, a DTU data transmission module and an upper computer; the battery boxes are provided with reserved openings, a power socket is fixed above each battery box, and a power line of the battery is inserted into the power socket through the reserved opening of the battery box; each battery bin is provided with a fixed battery charging port, the battery bins are used for storing battery boxes and charging batteries in the battery boxes, and each battery bin is internally provided with a clamping groove for preventing the battery boxes from falling; the mechanical arm is provided with two grippers, the grippers are used for gripping the battery and can perform translational motion under the driving of the mechanical arm so as to realize the extraction or insertion of the battery box from the battery bin; after the battery state information in the battery compartment is processed by the control module, the processed battery state information is sent to the upper computer through the DTU data transmission module.

Description

Patrol and examine unmanned aerial vehicle's battery charging structure
Technical Field
The utility model relates to an unmanned air vehicle technique field, especially an unmanned aerial vehicle's battery charging structure patrols and examines.
Background
In recent years, with the maturity of unmanned aerial vehicle technology, the application of unmanned aerial vehicle in each field also becomes reality, and unmanned aerial vehicle has small, efficient, zero risk and to advantages such as operational environment unrestricted, has extensive application prospect in military application civilian field, especially has the incomparable advantage of traditional technique in aspects such as agricultural plant protection, topography drawing survey, disaster area search and rescue and polar investigation to and the class unmanned aerial vehicle of patrolling and examining of now gradually popularizing. Although unmanned aerial vehicle can replace manual work at a lot of convenience at present, nevertheless the problem that battery capacity and the direct ratio relation of quality have led to the unmanned aerial vehicle power is the present difficulty that can't break through always, so when carrying out long-time task, for example patrol and examine unmanned aerial vehicle and carry out long distance and patrol and examine the task, unmanned aerial vehicle carries out the drawing of large tracts of land and surveys the search and rescue task, need frequent change battery. But do not have good battery management in the current unmanned aerial vehicle nest, when changing the battery, can appear the same battery of high-frequency use, lead to later stage nest inside battery life differs, for the aircraft power supply ability difference.
Chinese patent application No. 201210401648.0 discloses an automatic battery replacement system of a small-size many rotor unmanned aerial vehicle, and this patent discloses the scheme of the automatic change of an unmanned aerial vehicle battery, and this system can realize the automatic change of a plurality of batteries, but does not have good battery management system, also can not charge for the battery, still need to spend manpower and materials to do battery management like this, has reduced work efficiency.
Disclosure of Invention
The utility model aims to solve the technical problem that overcome prior art not enough and provide a battery charging structure who patrols and examines unmanned aerial vehicle, the utility model discloses a panel computer can operate, and for general unmanned aerial vehicle machine nest like this, its completion task that can be more intelligent makes the battery can be safer and permanent use simultaneously.
The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:
according to the utility model, the battery charging structure of the inspection unmanned aerial vehicle comprises n battery bins, n battery boxes, a mechanical arm for operating the battery boxes, a control module for driving the mechanical arm, a DTU data transmission module and an upper computer, wherein n is an integer greater than or equal to 1; wherein,
the battery boxes are provided with reserved openings, each battery box is used for storing one battery, a power socket is fixed above each battery box, and a power line of each battery is inserted into the power socket through the reserved opening of each battery box;
each battery compartment is provided with a fixed battery charging port, the battery compartments are used for storing battery boxes and charging batteries in the battery boxes, one battery box is stored in one battery compartment, and a clamping groove used for preventing the battery box from falling off is formed in each battery compartment;
the mechanical arm is provided with two grippers, the grippers are used for gripping the battery box and can perform translational motion under the driving of the mechanical arm so as to realize the extraction or insertion of the battery box from the battery bin;
after the battery state information in the battery compartment is processed by the control module, the processed battery state information is sent to the upper computer through the DTU data transmission module.
According to a patrol and examine unmanned aerial vehicle's battery charging structure further optimization scheme, the battery compartment is six, six battery compartments divide into two rows from top to bottom, respectively have the reference numeral.
According to an unmanned aerial vehicle's battery charging structure further optimization scheme patrols and examines, power socket is fixed in the top of battery case with the screw.
According to the utility model, two protruding elliptic cylinders are fixed at the front ends of the two grippers, the grippers are sleeved on the guide rail, and the elliptic cylinders are fixed on the grippers by screws; the mechanical arm is controlled by the control module, the hand grips on the mechanical arm can be folded inwards through the guide rail, so that the elliptic cylinder is clamped into a notch additionally arranged on the battery box, and the battery can be plugged and pulled out from the battery box.
According to a further optimization scheme of battery charging structure who patrols and examines unmanned aerial vehicle, DTU data transmission module includes 4Gsim phone card, and DTU data module transmits the battery state information after will handling for the host computer in real time through the 4G network.
According to a patrol and examine unmanned aerial vehicle's battery charging structure further optimization scheme, the draw-in groove is four fixed railing, four upper and lower corners of fixed railing in the battery compartment.
According to a patrol and examine further optimization scheme of unmanned aerial vehicle's battery charging structure, the battery case charges in inserting vacant battery compartment, the battery case inserts through four fixed railing in the battery compartment, four fixed railing all become the extrusion trend to the battery case.
According to an unmanned aerial vehicle's battery charging structure further optimizes the scheme, the host computer is the panel computer.
According to a patrol and examine further optimization scheme of unmanned aerial vehicle's battery charging structure, there are two RGB pilot lamps at the battery mouth back that charges, be RGB status indicator lamp and RGB warning pilot lamp respectively.
The utility model adopts the above technical scheme to compare with prior art, have following technological effect:
(1) the battery is placed in the battery box, so that the battery and the battery box are integrated, the mechanical arm is convenient to operate, otherwise, the battery is directly grabbed, and the battery is inconvenient to insert and pull, because a charging power line of the battery is as soft as a household electrical power line and is not beneficial to insertion and pulling, the battery is placed in the battery box, the power line of the battery can be inserted in the battery box firstly, and the power supply position of the battery box is fixed, so that the insertion and pulling actions are convenient;
(2) the utility model discloses not only can go to observe the state of battery through the change of the RGB lamp of installation on the nest, also can pass back state information to the panel computer through DTU data transmission module simultaneously, the staff also can observe the state information of battery through the panel computer, can operate the arm to make corresponding action simultaneously; the first battery compartment to the sixth battery compartment (when the number of the battery compartments is six) are regulated in the system, the batteries are used circularly, the batteries in the second battery compartment are selected preferentially after the batteries in the first battery compartment are used, the batteries in the third battery compartment are selected if the batteries in the second battery compartment do not meet the requirement, the batteries are used according to the sequence, and a new judgment process is restarted from the first battery compartment until the number six is judged;
(3) the system successfully solves the problem that the same or two batteries in the battery charging system are continuously and repeatedly used without using other batteries when the system runs, and the service life of the batteries in the battery charging system is basically maintained on the same horizontal line; the staff can also take out some full-charge batteries for discharging and storing through the prompt of the RGB lamp or the tablet personal computer after the work is finished; the system has the advantages of simple structure and convenience in operation, reduces the working time of workers, increases the working efficiency and improves the intellectualization of the inspection unmanned aerial vehicle;
(4) the utility model provides a battery charging problem, the suggestion that can give through this system, know the state that current battery is in, and give control module with information transmission, let control module remove the decision and fill that a battery, it uses for unmanned aerial vehicle to get which a battery, pass to the panel computer with state information through DTU simultaneously, the staff also can be according to the information of panel computer, decide whether the system operation that interrupts, carry out artificial intervention, the problem of battery charging management has just been solved like this, make things convenient for personnel to manage the battery and make the life of battery synchronous.
Drawings
Fig. 1 is a schematic diagram of a mechanical arm in a battery charging structure of an inspection unmanned aerial vehicle.
Fig. 2 is a schematic diagram of a battery compartment in a battery charging structure of an inspection unmanned aerial vehicle.
Fig. 3 is a schematic diagram of a battery compartment finished product in a battery charging structure of an inspection unmanned aerial vehicle.
Fig. 4 is a schematic diagram of a battery box in a battery charging structure of an inspection unmanned aerial vehicle.
Fig. 5 is a schematic diagram of an operation interface of a tablet computer in a battery charging structure of an inspection unmanned aerial vehicle.
Fig. 6 is a schematic diagram of a tablet computer operation prompt box in a battery charging structure of an inspection unmanned aerial vehicle.
Fig. 7 is a schematic diagram of the overall architecture of a battery charging structure of an inspection unmanned aerial vehicle.
The reference signs are interpreted as: 1.0-mechanical arm, 2.0-gripper, 2.1-guide rail, 2.2-elliptic cylinder, 3.0-battery compartment, 3.1-battery charging port, 3.2-fixed railing, 3.3-RGB status indicator lamp, 3.4-RGB warning indicator lamp, 4.0-battery box, 4.1-power socket, 4.2-gap, 5.0-tablet computer, 5.1-battery compartment operation diagram, 5.2-warning indicator lamp, 5.3-status indicator lamp, 5.4-unmanned aerial vehicle icon, 5.5-button, 5.6-dialog box, 5.7 is prompt box I, 5.8 is prompt box II, and 6.0-control module.
Detailed Description
The technical scheme of the utility model is further explained in detail with the attached drawings as follows:
as shown in fig. 1, the utility model relates to an it adopts screw fixation guide rail 2.1 on unmanned aerial vehicle's battery charging structure's the arm 1.0 to patrol and examine, and two tongs 2.0 overlap the jail respectively in guide rail 2.1 both sides, can inwards, outwards carry out the translation action, adopt the oval cylinder of screw fixation 2.2 on tongs 2.0.
As shown in fig. 2 and 3, a battery cabin 3.0 of a battery charging structure of an inspection unmanned aerial vehicle is fixed with a battery charging port 3.1 by screws, and the back of the battery charging port is provided with two RGB indicating lamps, namely an RGB status indicating lamp 3.3 and an RGB warning indicating lamp 3.4. Four inside corners of battery compartment 3.0 have placed four fixed railing 3.2 respectively, and fixed railing itself has stronger frictional force, and when not having the external force effect such as arm 1.0 or manpower under, battery case 4.0 because there is the reason of this frictional force, can not shake and fall out battery compartment 3.0 easily because of some.
As shown in fig. 4, a battery case 4.0 of a battery charging structure for inspecting an unmanned aerial vehicle is provided with a notch 4.2, a power socket 4.1 is fixed above the battery case 4.0 by screws, the power socket 4.1 is a bidirectional socket, one side of the power socket is used for inserting a power line of a battery, and the other side of the power socket is inserted into a battery charging port 3.1 in a battery bin 3.0.
The battery is put into to the battery case the inside, and battery case just become a whole like this, and the purpose makes things convenient for mechanical operation, otherwise directly snatchs the battery, and it is inconvenient to carry out the plug, because the power cord that charges of that battery, and is the same with the domestic electrical's in family power cord, and is softer, is unfavorable for the plug, puts into the battery case the inside to the battery like this, and the power cord of battery just can insert earlier on the battery case, and the power department of battery case is fixed, conveniently goes to carry out the plug action like this.
As shown in fig. 5, an operation interface of a tablet computer 5.0 of a battery charging structure for inspecting an unmanned aerial vehicle is provided with six battery compartment operation diagrams 5.1 corresponding to a battery management system on the interface, each battery compartment operation diagram is provided with two corresponding indicator lights, one of the six battery compartment operation diagrams is a status indicator light 5.3, the other one is a warning indicator light 5.2, and an unmanned aerial vehicle icon 5.4 and a button 5.5 are arranged on the right side of the interface.
As shown in fig. 6, a tablet personal computer operation prompt box in battery charging structure of patrol inspection unmanned aerial vehicle can jump out of dialog box 5.6 when operating battery compartment operation fig. 5.1 and unmanned aerial vehicle icon 5.4, and jump out of prompt box one 5.7 and prompt box two 5.8 when the operation is wrong.
As shown in fig. 7, a whole framework in the battery charging structure of the inspection unmanned aerial vehicle integrates PLC control, stm32 chip and DTU data transmission module in the control module 6.0. The stm32 chip in the control module 6.0 is a main control chip, and the stm32 chip is used as a core to control the PLC control and DTU data transmission module.
The following detailed operation steps are described with reference to fig. 1 to 7:
each battery is put into the battery box 4.0 in advance, and the power cord of each battery is inserted into the power socket 4.1 in the battery box 4.0. After patrolling and examining unmanned aerial vehicle descending, the stm32 chip in the control module 6.0 of a battery charging structure who patrols and examines unmanned aerial vehicle can receive the battery state information in the battery compartment, then with information processing back, give PLC with information or instruction issue, PLC is through the instruction that obtains in stm32 chip department, goes to send the instruction again and controls arm 1.0 and tongs 2.0 action. Battery state information passes through the inside signal line of battery charging system in battery compartment 3.0, with information transmission for stm32 chip, stm32 chip sends information transmission for panel computer 5.0 through DTU data transmission module after with information processing, and similarly, when operating the panel computer, send information to DTU data transmission module earlier, transmit information to stm32 chip by DTU data transmission module again, the stm32 chip sends deaf after well handling information for PLC control. The PLC control can control the mechanical arm 1.0 to pull out the battery box 4.0 in the unmanned aerial vehicle, the hand grip 2.0 on the mechanical arm 1.0 can be folded inwards through the guide rail 2.1, so that the elliptic cylinder 2.2 is clamped into the notch 4.2 on the battery box 4.0 and then pulled out outwards with force, and the flow is the same when the battery is inserted, but the battery is inserted inwards with force finally. The battery case 4.0 that takes out charges in inserting battery case 4.0 spare battery compartment 3.0 in the system through arm 1.0, and battery case 4.0 inserts through four fixed railing 3.2 in the battery compartment 3.0, because four fixed railing 3.2 all become the extrusion trend to battery case 4.0, so battery case 4.0 is fairly tight in battery compartment 3.0, is difficult for falling out. The power outlet on the battery box 4.0 will be plugged into the battery charging port 3.1 on the battery compartment 3.0, thus charging the battery. The charging process is to charge one by one according to the sequence from one to six, when the replaced battery box 4.0 is placed in the No. six battery compartment 3.0, the system can charge the battery in the No. six battery compartment 3.0 after the battery in the previous battery compartment 3.0 is charged. When the battery box 4.0 is taken, the battery state information received by the stm32 chip is used for judging and obtaining the battery box 4.0 in the battery compartment 3.0, the system only obtains the battery in the full-charge state, meanwhile, the system can not repeatedly obtain the same battery or the same two batteries, if the battery in the first battery compartment 3.0 is already obtained by the battery charging system, the battery in the first battery compartment 3.0 is also obtained, and two conditions need to be met, wherein one of the two conditions is that the battery in the first battery compartment 3.0 is in the full-charge state, the other battery compartments 3.0 are not in the full-charge state, and if the batteries in the other battery compartments 3.0 are in the full-charge state, the system can obtain the batteries in the other compartments. Therefore, the opportunity that one or two batteries in the battery charging system are repeatedly used without stop and other batteries cannot be used is effectively avoided, and the service life of the batteries in the battery charging system is basically consistent. What state the battery in battery compartment 3.0 is can show through RGB status indicator 3.3's colour, and RGB indicator has three kinds of colours altogether, is full charge state blue light, and the red light scintillation of wait for charge state red light and battery damage state red light respectively. Meanwhile, the control module receives the battery state information given by the battery compartment 3.0 to judge which battery in the battery compartment 3.0 is obtained or which battery in the battery compartment 3.0 is charged. RGB warning light 3.4 shows as the red light when there is not the battery in battery compartment 3.0, and the state that is not bright in the rest of times, RGB warning light 3.4 can judge for the system that the battery that takes off from unmanned aerial vehicle puts into which battery compartment 3.0. After the work, if the staff has the needs, can go to judge which battery need take off to discharge the save through the colour of these two RGB pilot lamp suggestion, those batteries damage and need change, and whole battery charging system will keep a good operating condition always like this.
The state information of the battery compartment 3.0 is transmitted to the tablet personal computer 5.0 through the DTU data transmission module, a worker can observe the state information of the battery through the tablet personal computer 5.0, the work of the system can be interrupted, manual operation is carried out, when the system has problems, the expected work cannot be well completed, and then the worker can pause the intelligent operation of the system through the button 5.5 on the tablet personal computer 5.0 to carry out manual intervention. The staff can judge what state this battery compartment 3.0 is through two pilot lamps on every battery compartment operation figure 5.1, one is state pilot lamp 5.3, and its effect corresponds to RGB pilot lamp 3.3, and blue is full charge state, and yellow is the state of charge, waits for the state of charge red and battery damage state red scintillation, and another warning pilot lamp is red when battery compartment 3.0 does not have the battery, and the other is not bright. Clicking any one of the six battery compartment operation diagrams 5.5, popping up a dialog box 5.6 on the corresponding battery compartment operation diagram 5.5, inquiring the operator about the next operation instruction, whether the battery is inserted or pulled out, if the battery is already in the operated battery compartment 3.0 and the battery is still selected to be inserted, popping up a prompt box one 5.7, prompting the operator that the battery is already in the compartment or the battery is not in the compartment but the battery is selected to be pulled out, popping up a prompt box two 5.8, and prompting the operator that the battery is not in the compartment. If the operator wants to plug and unplug the battery for the unmanned aerial vehicle, a dialog box 5.6 can be popped up by clicking the icon 5.4 of the unmanned aerial vehicle, and the operation mode is the same as that of the battery bin 3.0. When the staff feels that the system works normally, the staff can click the button 5.5, and the system can be switched from the manual intervention state to the system intelligent operation state to continue working.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention.

Claims (9)

1. A battery charging structure of an inspection unmanned aerial vehicle is characterized by comprising n battery bins, n battery boxes, a mechanical arm for operating the battery boxes, a control module for driving the mechanical arm, a DTU data transmission module and an upper computer, wherein n is an integer greater than or equal to 1; wherein,
the battery boxes are provided with reserved openings, each battery box is used for storing one battery, a power socket is fixed above each battery box, and a power line of each battery is inserted into the power socket through the reserved opening of each battery box;
each battery compartment is provided with a fixed battery charging port, the battery compartments are used for storing battery boxes and charging batteries in the battery boxes, one battery box is stored in one battery compartment, and a clamping groove used for preventing the battery box from falling off is formed in each battery compartment;
the mechanical arm is provided with two grippers, the grippers are used for gripping the battery box and can perform translational motion under the driving of the mechanical arm so as to realize the extraction or insertion of the battery box from the battery bin;
after the battery state information in the battery compartment is processed by the control module, the processed battery state information is sent to the upper computer through the DTU data transmission module.
2. The battery charging structure of the inspection unmanned aerial vehicle according to claim 1, wherein the number of the battery bins is six, and the six battery bins are divided into an upper row and a lower row, and each battery bin has a label.
3. The battery charging structure of the inspection unmanned aerial vehicle of claim 1, wherein the power socket is screwed on the battery box.
4. The battery charging structure for the inspection unmanned aerial vehicle according to claim 1, wherein two protruding elliptic cylinders are fixed at the front ends of the two grippers, the grippers are sleeved on the guide rails, and the elliptic cylinders are fixed on the grippers by screws; the mechanical arm is controlled by the control module, the hand grips on the mechanical arm can be folded inwards through the guide rail, so that the elliptic cylinder is clamped into a notch additionally arranged on the battery box, and the battery can be plugged and pulled out from the battery box.
5. The battery charging structure of the inspection unmanned aerial vehicle of claim 1, wherein the DTU data transmission module includes a 4Gsim phone card, and the DTU data module transmits the processed battery status information to the upper computer in real time through a 4G network.
6. The battery charging structure of the inspection unmanned aerial vehicle of claim 1, wherein the clamping grooves are four fixed handrails, and the four upper and lower corners of the fixed handrails in the battery compartment are provided.
7. The battery charging structure of patrolling and examining unmanned aerial vehicle of claim 6, its characterized in that, the battery case inserts and charges in the vacant battery compartment, and the battery case inserts through four fixed railings in the battery compartment, and four fixed railings are all to battery case one-tenth extrusion trend.
8. The battery charging structure of the inspection unmanned aerial vehicle of claim 1, wherein the upper computer is a tablet computer.
9. The battery charging structure of the inspection unmanned aerial vehicle of claim 1, wherein two RGB indicating lamps are arranged on the back of the battery charging port, and the RGB indicating lamps are an RGB status indicating lamp and an RGB warning indicating lamp respectively.
CN201922087141.2U 2019-11-28 2019-11-28 Patrol and examine unmanned aerial vehicle's battery charging structure Active CN211223919U (en)

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CN201922087141.2U CN211223919U (en) 2019-11-28 2019-11-28 Patrol and examine unmanned aerial vehicle's battery charging structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201922087141.2U CN211223919U (en) 2019-11-28 2019-11-28 Patrol and examine unmanned aerial vehicle's battery charging structure

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