JP2024505614A - UAV charging system - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle (UAV) charging system. The UAV charging system includes a first UAV and an energy UAV, the first UAV and the energy UAV having electric propulsion powered by a rechargeable battery. The battery of the energy UAV has a relatively larger capacity than the battery of the first UAV, and the energy UAV includes a charging element connected to a battery charger at one end and having a charging connector at the other end. A first UAV has a complementary connector for connecting to a charging connector. The system also includes a guidance controller that controls the movement of the UAV and, if necessary, moves the UAV to a charging position, where the charging connector engages the complementary connector and the battery of the first UAV is energized through the charging system. It is charged from the UAV battery.

Description

FIELD OF THE INVENTION The present invention relates to unmanned aerial vehicle (UAV) charging systems, and more specifically, but not exclusively, to multirotor UAV charging systems.

BACKGROUND OF THE INVENTION Unmanned aerial vehicles (UAVs), also commonly referred to as drones, are aircraft that fly without a human operator on board. UAVs may be remotely operated by a human operator and may include varying degrees of autonomous functionality that allow the UAV to perform certain operations without a human operator. Because there is no need for a human operator on board, the UAV can be reduced in size to perform operations that are not possible with UAVs large enough to carry a human operator on board.

Over the past few decades, multirotor helicopter UAVs have become very popular. Specifically, quadcopters with four rotors have proven to be mechanically simple and stable, and falling costs in avionics and advances in battery and electric propulsion have made quadcopters increasingly autonomous. is becoming the preferred platform for low-speed UAVs operating in Some applications for multirotor UAVs include aerial photography, surveillance, and inspection.

A problem with all electric aircraft, especially small multi-rotor UAVs, is that the specific energy of batteries is very low when compared to the fuel used in internal combustion engines. In electric aircraft design, there is a design trade-off between additional battery capacity (and thus flight time) and aircraft payload. However, increased battery capacity and associated weight also have a negative impact on aircraft maneuverability and speed. For example, where longer flight times are required, such as inspecting power lines over long distances, the increased weight and reduced maneuverability of high-capacity batteries may preclude the use of such UAVs.

OBJECTS OF THE INVENTION It is therefore an object of the present invention to provide a UAV charging system that at least partially alleviates the problems associated with the prior art or provides a useful alternative to the prior art.

According to the invention, there is provided a UAV charging system comprising:
- a first UAV and an energy UAV,
- a first UAV and an energy UAV with electric propulsion powered by a rechargeable battery;
- an energy UAV battery having a relatively larger capacity than the first UAV battery;
- an energy UAV comprising a charging element connected to a battery charger at one end and extending from the energy UAV having a charging connector at the other end;
- a battery charger powered by the battery of the energy UAV,
- a first UAV having a complementary connector for removably connecting to the charging connector such that when the complementary connector is connected to the charging connector, a battery charger charges a battery of the first UAV;
- the system includes a guidance controller to control the movement of the UAV and, if necessary, move the UAV to a charging position, the charging connector engages the complementary connector, and the battery of the first UAV receives energy through the charging system; It is charged from the UAV battery.

The UAV may be a multirotor helicopter. A multirotor helicopter can be a quadcopter.

Electric propulsion may be provided by four propellers driven by four brushless DC electric motors.

A charging element may include more than one conductor. The conductor may be a charging wire.

A charging element may include a rod operatively extending upwardly from the energy UAV.

When the UAVs are in the charging position, the charging lines may be extendable so that the UAVs can maintain the charging position and connection apart from each other.

The extendable charging line may be spring loaded.

The extendable charging line may be on a spring-loaded spool that allows the line to expand and contract.

An element may be movable between an active position in which the element extends upwardly from the UAV and an inactive position in which the element is disposed along the body of the UAV.

A connector may form a mechanical connection.

A connector can form an inductive coupling, the connector includes an inductive coil, and a complementary connector includes an inductive coil such that when connected, energy can be transferred via electromagnetic coupling.

A battery charger may generate alternating current for inductive coupling. The alternating current may be generated by an inverter connected to the battery of the energy UAV.

The connector and complementary connectors may include magnetic elements to create and secure the connection.

The connector may include an electromagnet.

A complementary connector may include a permanent magnet.

The guidance system may include a digital camera. A digital camera may be mounted on the first UAV.

A guidance system may use images captured by the digital camera to determine relative positions between the UAVs and move the UAVs to a charging position based on the relative positions.
A digital camera lens may be coaxial with at least a portion of the complementary connector.

A system may include a plurality of energy UAVs, and a guidance controller may move any one of the energy UAVs toward a first UAV to a charging position.

Embodiments of the invention are described below, by way of example only, with reference to the following drawings:

1 is a top perspective view of an energy UAV with a charging element in an inactive position; FIG. 1 is a top perspective view of an energy UAV with a charging element in an active position; FIG. FIG. 2 is a bottom perspective view of the first UAV. FIG. 3 is a bottom perspective view of a first UAV and an energy UAV in a charging position. FIG. 3 is a perspective view of a first UAV and a second embodiment of an energy UAV with a charging element in an active position; Figure 5a is a perspective view of the first UAV and energy UAV of Figure 5a in a charging position; Figure 5a is a perspective view of the first UAV and energy UAV of Figures 5a and 5b with the charging element conductors extended;

With reference to the drawings, where like features are designated with like numerals, the UAV charging system is generally designated by the reference numeral 1.

UAV charging system 1 includes a first UAV2 and a second energy UAV3. The first UAV 2 and the second UAV 3 shown in the figure are represented with substantially similar dimensions. However, regardless of whether the first UAV 2 is larger or smaller than the energy UAV 3, the system is believed to be equally effective if the relative sizes of the UAVs are different. Both the first UAV2 and the energy UAV3 are equipped with electric propulsion powered by rechargeable batteries. The battery 4 of the energy UAV in this example is operatively disposed below the body 5 of the energy UAV 3, and the battery of the first UAV is disposed within the body 5. Each UAV is a multirotor helicopter in the form of a quadcopter with four propellers 6 driven by brushless DC electric motors 7. The propeller 6 of the energy UAV 3 is pointing downwards, while the propeller 6 of the first UAV 2 is pointing upwards. The capacity of the battery 4 of the energy UAV is relatively larger than the battery of the first UAV. This allows the first UAV 2 to be lighter than the energy UAV 3, increasing its payload carrying capacity and increasing its flight time.

The energy UAV 3 has a charging element 8 connected to a charger in the main body 5 at one end of the charging element 8 and a charging connector 9 at the other end of the element 8. The battery charger is powered by the battery 4 of the energy UAV. In the present example, the charging element 8 is in the form of a rod that operatively extends upwardly from the energy UAV 3 and includes a conductor within the rod. The element 8 is movable between an active position (as shown in Figure 2) in which the element extends upwardly from the UAV and an inactive position (as shown in Figure 1) in which the element is placed horizontally along the body of the energy UAV 3. It is.

In this example, the first UAV 2 has a complementary connector 10 on the underside of its body 5 that can be releasably engaged and connected to a charging connector 9 . The complementary connector 10 may also be on an energy UAV, in which case the charging element forms part of the first UAV 2. When the complementary connector 10 and the charging connector are engaged to form a connection, the battery charger charges the battery of the first UAV from the battery 4 of the energy UAV. Charging connector 9 and complementary connector 10 may form a mechanical connection in which conductors on charging connector 9 engage conductors on complementary connector 10. Alternatively, as is the case in the current example, the connectors may form an inductive coupling, the charging connector 9 containing an inductive coil and the complementary connector 10 allowing energy to be transferred via electromagnetic coupling when connected. As such, it includes an induction coil. If the connector forms an inductive coupling, the battery charger may generate an alternating current for the inductive coupling by an inverter connected to the battery 4 of the energy UAV. Charging connector 9 and complementary connector 10 may include magnetic elements to create and secure the connection. In the present example, the charging element 9 is powered by the energy UAV's battery 4 and includes an electromagnet that can be selectively activated or deactivated depending on whether the UAV is in a charging position, and the complementary connector 10 is permanently Has a magnet.

In a second embodiment (shown in FIGS. 5a, 5b and 6), the charging element comprises a rod 8 and an extendable charging line or set of charging lines extending from the charging element 8. This allows the first UAV 2 and the energy UAV 3 to form a charging connection at the charging location, and allows the first UAV 2 and the second UAV 3 to move away from each other once the charging connection is established. The extendable charging line can be expanded and contracted in a spring-loaded manner. Alternatively, the charging line 11 may be expanded or contracted as necessary. In the example shown in Figures 5a, 5b and 6, the extendable charging line is on a spring-loaded spool located within the energy UAV3.

Once the charging connection is established, the charging elements can be safely moved to an inactive position (as shown in FIG. 6) and the UAVs can move away from each other relative to each other while the charging connection is maintained. The UAVs are moved far enough apart (as shown in Figure 6) that the downdraft from the propeller of the first UAV2 has no impact or influence on the propulsion of the energy UAV3. ideal. Furthermore, the propeller of Energy UAV3 is pointing downwards. This reduces the possibility that the charging line will interfere with or become entangled with the propeller 6 of the energy UAV 3. If necessary, the charging connection can be released and the extendable charging line is rewound onto a spring-loaded or working spool.

The system 1 includes a guidance controller in the form of electronic avionics equipment and software operating thereon to control the movement of both the first UAV 2 and the energy UAV 3. The guidance controller may form part of the control system of either the first UAV 2 or the energy UAV 3, in which case the guidance controller is located within one body 5. Alternatively, the guidance controller may be external and in wireless communication with the UAV. The guidance controller may, if desired, move the UAV to a charging position and control the movement of the first UAV 2 and the energy UAV 3 and between them so that the charging connector 9 can engage the complementary connector 10 to form a charging connection. configured to control the movement of. Once the charging connection is formed, the battery of the first UAV is charged from the battery 4 of the energy UAV. The charging position may be maintained until the first UAV's battery is fully charged, after which the first UAV 2 may disengage and disconnect the charging connection. The energy UAV 3 can return to the base station or land until the first UAV's battery reaches a low charge. When the first UAV2 reaches low charge, the energy UAV3 may be sent to the first UAV2 again for charging.

The system 1 may also include multiple energy UAVs 3 depending on the operational requirements of the first UAV 2. For example, if the system includes a base station equipped with a charging device for energy UAVs 3, two energy UAVs 3 may be charged simultaneously at the base station. In this example, one of the energy UAVs 3 may be sent to the first UAV 2 for charging and, after charging the first UAV 2, may return to the base station to charge the energy UAV's battery 4. If the first UAV 2 requires further charging, the second energy UAV 3 may be sent to the first UAV 2 for charging, while the first returns to the base station to charge its battery 4. stay. Depending on the charging time, the capacity of the battery 4 of the energy UAV and the operations performed by the first UAV 2, the first UAV 2 can remain in flight for a long period of time, possibly even indefinitely.

The guidance controller may include a digital camera that may be mounted on the first UAV 2. A guidance controller may use images captured by the digital camera to determine relative positions between the UAVs and move the UAVs to a charging position based on the relative positions. This is necessary because the guidance controller's positioning system (such as GPS) may not have the accuracy necessary to reliably form a connection. The guidance controller may also utilize real-time kinematic positioning (RTK) to increase the accuracy of the system.

The present invention provides UAV charging that allows the first UAV to be lighter and better equipped to cope with its operational requirements, while ensuring increased airtime by charging one or more energy UAVs. It is assumed that the system will be provided.

The invention is not limited to the precise details described herein. For example, instead of a quadcopter, the UAV can be a multirotor helicopter with six or more rotors. Furthermore, instead of a brushless DC electric motor driving the propeller, a regular DC motor, AC motor or induction motor can also be used.

Claims (23)

A UAV charging system comprising a first unmanned aerial vehicle (UAV) and an energy UAV, the first UAV and the energy UAV having electric propulsion powered by a rechargeable battery, the battery of the energy UAV comprising: , having a relatively larger capacity than a battery of the first UAV, the energy UAV including a charging element extending from the energy UAV connected to a battery charger at one end and having a charging connector at the other end; A battery charger is powered by a battery of the energy UAV, and when the first UAV has a complementary connector connected to the charging connector, the battery charger charges the battery of the first UAV. the complementary connector for removably connecting to the charging connector, and the system includes a guidance controller for controlling movement of the UAV and, optionally, moving the UAV to a charging position. A UAV charging system, wherein the charging connector engages the complementary connector and the first UAV battery is charged from the energy UAV battery through the charging system. The UAV charging system of claim 1, wherein the first UAV and the energy UAV are multirotor helicopters. 3. The UAV charging system of claim 2, wherein the multirotor helicopter is a quadcopter. The UAV charging system of claim 1, wherein the electric propulsion is provided by four propellers driven by four brushless direct current (DC) electric motors. The UAV charging system of claim 1, wherein the charging element includes two or more conductors. 6. The UAV charging system of claim 5, wherein the conductor is a charging line. 7. The UAV charging system of claim 6, wherein when the UAV is in the charging position, the charging lines are extendable so that the UAVs can maintain the charging position apart from each other. 8. The UAV charging system of claim 7, wherein the extendable charging line is spring loaded. 9. The UAV charging system of claim 8, wherein the extendable charging line is on a spring-loaded spool that can be extended to retract the charging line. The UAV charging system of claim 1, wherein the charging element includes a rod operatively extending upwardly from the energy UAV. The UAV charging of claim 1, wherein the element is movable between an active position in which the element extends upwardly from the UAV and an inactive position in which the element is disposed along the body of the UAV. system. The UAV charging system of claim 1, wherein the charging connector and the complementary connector form a mechanical connection. the charging connector includes an induction coil; the complementary connector includes an induction coil; and the charging connector and the complementary connector include an induction coil such that energy can be transferred via electromagnetic coupling when the charging connector and the complementary connector are connected. The UAV charging system of claim 1, forming a bond. 14. The UAV charging system of claim 13, wherein the battery charger generates an alternating current for the inductive coupling. 15. The UAV charging system of claim 14, wherein the alternating current is generated by an inverter connected to a battery of the energy UAV. The UAV charging system of claim 1, wherein the charging connector and the complementary connector include magnetic elements to create and secure the connection. 17. The UAV charging system of claim 16, wherein the charging connector includes an electromagnet. 17. The UAV charging system of claim 16, wherein the complementary connector includes a permanent magnet. The UAV charging system of claim 1, wherein the guidance system includes a digital camera. 20. The UAV charging system of claim 19, wherein the digital camera is attached to the first UAV. The guidance system uses images captured by the digital camera to determine a relative position between the first UAV and the energy UAV, and moves the UAV into the charging position based on the relative position. 20. The UAV charging system of claim 19, wherein the UAV charging system is mobile. 20. The UAV charging system of claim 19, wherein the digital camera lens is coaxial with a portion of the complementary connector. The UAV charging system of claim 1, wherein the system includes a plurality of energy UAVs, and the guidance controller moves any one of the energy UAVs toward the first UAV to a charging position. .

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