CN211592268U - Unmanned aerial vehicle wireless charging device of self-adaptation location - Google Patents
Unmanned aerial vehicle wireless charging device of self-adaptation location Download PDFInfo
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- CN211592268U CN211592268U CN201920941044.2U CN201920941044U CN211592268U CN 211592268 U CN211592268 U CN 211592268U CN 201920941044 U CN201920941044 U CN 201920941044U CN 211592268 U CN211592268 U CN 211592268U
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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
Abstract
The utility model provides a self-adaptive positioning unmanned aerial vehicle wireless charging device, which comprises a first controller, an unmanned aerial vehicle detection unit and a wireless charging emission unit which are arranged on a wireless charging platform box body, wherein the wireless charging emission unit comprises a transmitting coil, and the unmanned aerial vehicle detection unit and the wireless charging emission unit are respectively connected with the first controller; the setting is at second controller, the wireless receiving unit and the current sensor that charge of the bottom of unmanned aerial vehicle fuselage, including receiving coil in the wireless receiving unit that charges, the wireless receiving unit that charges with current sensor connects respectively the second controller, current sensor is used for gathering the electric current size that receiving coil produced, the second controller is used for the basis current control unmanned aerial vehicle that current sensor gathered descends to best landing position. The utility model has the advantages of simple device, low cost, good stability and high landing accuracy.
Description
Technical Field
The utility model belongs to the unmanned aerial vehicle field especially relates to a wireless charging device of unmanned aerial vehicle of self-adaptation location.
Background
The existing unmanned aerial vehicle is poor in cruising ability, cannot carry an overlarge battery, utilizes a wireless charging technology, and can prolong the operation time of the unmanned aerial vehicle by arranging a wireless charging device on a preset operation path of the unmanned aerial vehicle. Thus current wireless charging device needs unmanned aerial vehicle to carry positioner (like communicator or camera etc.) alone and just can descend and charge unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a wireless charging device of unmanned aerial vehicle of self-adaptation location only needs to carry current sensor, need not to carry other sensors, utilizes the intensity size of the wireless electric current that charges to descend as the location benchmark, has that the device is simple, with low costs, stability is good, the descending degree of accuracy is high advantage.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
an unmanned aerial vehicle wireless charging device of self-adaptation location includes:
the wireless charging system comprises a first controller, an unmanned aerial vehicle detection unit and a wireless charging transmitting unit, wherein the first controller, the unmanned aerial vehicle detection unit and the wireless charging transmitting unit are arranged on a wireless charging platform box body, the wireless charging transmitting unit comprises a horizontally arranged electromagnetic wave transmitting coil, and the unmanned aerial vehicle detection unit and the wireless charging transmitting unit are respectively connected with the first controller;
set up second controller, the wireless receiving element and the current sensor that charges in the bottom of unmanned aerial vehicle fuselage, including the electromagnetic wave receiving coil that the level set up in the wireless receiving element that charges, the wireless receiving element that charges with current sensor connects respectively the second controller, current sensor is used for gathering the electric current size that the electromagnetic wave receiving coil produced.
Further, the bottom of unmanned aerial vehicle fuselage is provided with the cover body, the cover body is round platform shape, the second controller wireless receiving unit that charges and current sensor all sets up cover internal portion.
Further, be provided with on the wireless charging platform box with the size assorted boss of the cover body, after unmanned aerial vehicle fell, the cover body covered the boss, wireless transmitting unit that charges sets up in the boss.
Furthermore, the edge position of the upper surface of the boss is in a circular arc shape.
Further, the unmanned aerial vehicle detecting unit is an ultrasonic sensor.
Furthermore, ultrasonic sensor is provided with a plurality ofly, evenly distributed on wireless charging platform box.
Compared with the prior art, an unmanned aerial vehicle wireless charging device of self-adaptation location have following advantage:
(1) second controller and current sensor descend for unmanned aerial vehicle's location and provide the support of hardware structure, only use current sensor, avoid using other sensors, make whole device simplification, use the resource little, with low costs.
(2) The utility model discloses be provided with the cover body of round platform shape and with cover body matched with boss, and the border position of the upper surface of boss is convex, so sets up, makes wireless receiving transmitting unit and wireless platform transmitting unit can accurately aim at, improves the stability of charge efficiency and device, in addition, when appearing because the less descending skew that the inside calculation error of second controller produced, the cover body also can be along the convex edge landing of boss to the position of aiming at.
(3) The utility model discloses be provided with a plurality of ultrasonic sensor, avoid causing the condition of false detection because of being provided with an ultrasonic sensor, just start wireless transmitting unit that charges when a plurality of ultrasonic sensor all detect the object.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is a schematic structural diagram of an apparatus according to an embodiment of the present invention;
fig. 2 is a structural diagram of an electromagnetic wave transmitting coil according to an embodiment of the present invention.
Description of reference numerals:
1-a second controller; 2-unmanned aerial vehicle detecting unit; 3-a wireless charging transmitting unit; 4-a wireless charging receiving unit; 5-unmanned plane body; 6-cover body; 7-wireless charging platform box body; 8-boss.
Detailed Description
Simulation shows that the electromagnetic wave transmitting coil and the electromagnetic wave receiving coil are placed in parallel and the vertical projections of the electromagnetic wave transmitting coil and the electromagnetic wave receiving coil are overlapped, the coupling effect is best, namely the charging efficiency is highest, and the wireless charging receiving unit is characterized in that the current in the electromagnetic wave receiving coil is the largest. The utility model discloses utilize this kind of characteristic, through detecting electromagnetic wave receiving coil internal current size, solve out strongest coupling point in the space in real time, wireless charging platform vertical projection position promptly to use this position to descend as the benchmark.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1, the utility model provides a wireless charging device of unmanned aerial vehicle of self-adaptation location, include: the wireless charging system comprises a first controller (not shown in the figure), an unmanned aerial vehicle detection unit 2 and a wireless charging emission unit 3, wherein the first controller, the unmanned aerial vehicle detection unit 2 and the wireless charging emission unit 3 are arranged on a wireless charging platform box body 7, the unmanned aerial vehicle detection unit 2 and the wireless charging emission unit 3 are respectively connected with the first controller, specifically, the unmanned aerial vehicle detection unit 2 is an ultrasonic sensor, a plurality of ultrasonic sensors are arranged, and are uniformly distributed on the wireless charging platform box body 7, and as shown in figure 1, 4 sensors are arranged in the embodiment;
still including setting up second controller 1, the wireless receiving element 4 and the current sensor that charges in the bottom of unmanned aerial vehicle fuselage, current sensor and wireless receiving element 4 integrated together that charges, wireless receiving element 4 that charges includes the electromagnetic wave receiving coil that the level set up, wireless receiving element 4 that charges with current sensor connects second controller 1 respectively, current sensor is used for gathering the electric current size that electromagnetic wave receiving coil produced, second controller 1 be used for the basis unmanned aerial vehicle's motion route is confirmed to the electric current size that current sensor gathered, and is specific, and second controller 1 adopts armcotex-m 4 kernel.
The bottom of unmanned aerial vehicle fuselage 5 is provided with the cover body 6, and the cover body 6 is round platform shape, second controller 1, wireless receiving element 4 that charges and current sensor all sets up the inside at the cover body 6.
Wireless charging platform box 7 upper surface be provided with cover 6 size assorted boss 8, after unmanned aerial vehicle fell, cover 6 covers boss 8, is provided with wireless transmitting unit 3 that charges in the boss 8, the electromagnetic wave transmitting coil that sets up including level in the wireless transmitting unit 3 that charges.
The size of the cover body 6 is matched with the size of the boss 8, and the edge position of the upper surface of the boss 8 is arc-shaped, so that the wireless receiving transmitting unit and the wireless platform transmitting unit are aligned and close to each other, the charging efficiency and the stability of the device are improved, and in addition, when smaller landing deviation caused by calculation errors in the second controller occurs, the cover body 6 can also slide to the aligned position along the arc-shaped edge of the boss 8.
The self-adaptive positioning unmanned aerial vehicle wireless charging method applying the device comprises the following steps:
step 1: when the unmanned aerial vehicle detection unit detects that the unmanned aerial vehicle flies to the upper part of the wireless charging platform box body, the first controller starts the wireless charging transmitting unit, and the electromagnetic wave transmitting coil starts to transmit electromagnetic waves;
step 2: the electromagnetic wave receiving coil receives electromagnetic wave signals, the current sensor collects the current generated by the electromagnetic wave receiving coil, and the second controller controls the unmanned aerial vehicle to move and searches for an optimal landing position.
The step 1 further comprises: it is a plurality of ultrasonic sensor all detects unmanned aerial vehicle and flies to the wireless charging platform box when empty, wireless transmitting unit that charges is opened to first controller, avoids causing the erroneous judgement because of sheltering from of birds etc..
The step 2 comprises the following steps:
step 201: marking the current value acquired by the current sensor for the first time as I1And the second controller controls the unmanned aerial vehicle to use the current as I1Starting from point P, r is 80 (I)0-I1) cm is radius, and flies in circle, clockwise and counterclockwise respectively, to form 8-shaped0Measuring the current of the electromagnetic wave receiving coil end when the electromagnetic wave transmitting coil and the electromagnetic wave receiving coil are artificially placed at the optimal coupling point;
step 202: recording the maximum current I during flightMStarting from point P, r is 80 (I)0-IM) cm is the radius, and the 8-shaped motion is continued as described in step 201;
step 203: repeating step 202 to update the maximum current IMAnd radius r, up to IM/I0When the landing position is more than or equal to 0.98, the second controller starts to control the unmanned aerial vehicle to slowly land。
Radius formula r 80 (I)0-I1) The derivation process of cm is as follows, the shape of the electromagnetic wave emission coil can be similar to a plane spiral coil, as shown in fig. 2, the maximum outer diameter of the plane spiral coil is 8 pi cm, the turn pitch is 2 pi cm, the number of turns is 4, the polar coordinate equation is that rho is α theta, α is 0.01, the rotation angle theta is 0 → 8 pi, the polar coordinate equation is converted into a rectangular coordinate equation:
solving using Biosaval's law, θ is divided equally into N (taking N as 1000) parts, each of Δ θn＝θn+1-θnD θ; the small segment dl (0, dy) on the helix can be obtained1，dz1)，dy1＝yn+1-yn＝ 0.01(θn+1cos(θn+1)-θncos(θn))，dz1＝zn+1-zn＝0.01(θn+1sin(θn+1)- θnsin(θn) Therefore, the magnetic induction intensity generated by any small segment at any point of the xoy plane is as follows:
wherein:
dl×r＝(dy1×rz-dz1×ry)i+dzl×rxj-dy1×rxk
rx＝x(i) ry＝y(j)-yirz＝-zl
the components of the magnetic field B are obtained as:
the magnetic induction distribution is:
according to the magnetic induction distribution type, surf (x, y, B) function drawing is applied in matlab, the magnetic field intensity of the coil central point is maximum, and the range in which the unmanned aerial vehicle can sense the coil is a circular area with the radius being the same as that of the coil. In the most ideal case, the 8-shaped track moved by the unmanned aerial vehicle preferably finds the maximum current position through only one movement. Therefore, the motion track with the radius of the drawn circle being one half of the radius of the coil is selected as the 8-shaped motion formula of the unmanned aerial vehicle, namely r is 80 (I)0-I1)cm。
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a wireless charging device of unmanned aerial vehicle of self-adaptation location which characterized in that: the method comprises the following steps:
the wireless charging system comprises a first controller, an unmanned aerial vehicle detection unit and a wireless charging transmitting unit, wherein the first controller, the unmanned aerial vehicle detection unit and the wireless charging transmitting unit are arranged on a wireless charging platform box body, the wireless charging transmitting unit comprises a horizontally arranged electromagnetic wave transmitting coil, and the unmanned aerial vehicle detection unit and the wireless charging transmitting unit are respectively connected with the first controller;
set up second controller, the wireless receiving element and the current sensor that charges in the bottom of unmanned aerial vehicle fuselage, including the electromagnetic wave receiving coil that the level set up in the wireless receiving element that charges, the wireless receiving element that charges with current sensor connects respectively the second controller, current sensor is used for gathering the electric current size that the electromagnetic wave receiving coil produced.
2. The wireless charging device of self-adaptive positioning unmanned aerial vehicle of claim 1, characterized in that: the bottom of unmanned aerial vehicle fuselage is provided with the cover body, the cover body is round platform shape, the second controller wireless receiving element that charges and current sensor all sets up cover internal portion.
3. The wireless charging device of self-adaptive positioning unmanned aerial vehicle of claim 2, characterized in that: be provided with on the wireless charging platform box with the size assorted boss of the cover body, after unmanned aerial vehicle fell, the cover body covered the boss, wireless transmitting element that charges sets up in the boss.
4. The wireless charging device of self-adaptive positioning unmanned aerial vehicle of claim 3, characterized in that: the edge position of the upper surface of the boss is arc-shaped.
5. The wireless charging device of self-adaptive positioning unmanned aerial vehicle of claim 1, characterized in that: the unmanned aerial vehicle detecting element is ultrasonic sensor.
6. The wireless charging device of self-adaptive positioning unmanned aerial vehicle of claim 5, characterized in that: ultrasonic sensor is provided with a plurality ofly, evenly distributed on wireless charging platform box.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112607020A (en) * | 2020-12-22 | 2021-04-06 | 云南尼古拉智能科技有限公司 | Automatic charging system for rotor unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112607020A (en) * | 2020-12-22 | 2021-04-06 | 云南尼古拉智能科技有限公司 | Automatic charging system for rotor unmanned aerial vehicle |
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