LU503024B1 - Method and system for adjusting landing accuracy of unmanned aerial vehicle based on wireless charging coupling mechanism - Google Patents
Method and system for adjusting landing accuracy of unmanned aerial vehicle based on wireless charging coupling mechanism Download PDFInfo
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- LU503024B1 LU503024B1 LU503024A LU503024A LU503024B1 LU 503024 B1 LU503024 B1 LU 503024B1 LU 503024 A LU503024 A LU 503024A LU 503024 A LU503024 A LU 503024A LU 503024 B1 LU503024 B1 LU 503024B1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/122—Circuits or methods for driving the primary coil, e.g. supplying electric power to the coil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
- B60L53/39—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer with position-responsive activation of primary coils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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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
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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
- Y02T90/12—Electric charging stations
-
- 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 present invention relates to a method and a system for adjusting the landing accuracy of an unmanned aerial vehicle based on a wireless charging coupling mechanism. The method comprises the following steps: when an unmanned aerial vehicle flies back to a wireless charging platform, controlling a primary transmitting coil to be electrified, and reducing the charging power of the unmanned aerial vehicle to a first preset power threshold; Controlling the unmanned aerial vehicle to fly at the same preset height above the wireless charging platform according to the preset trajectory strategy, and obtaining the output voltage of the secondary circuit structure in the flight process, and determining the target output voltage, wherein the target output voltage is equal to the output voltage of the preset maximum output voltage value; Control the UAV to land on the wireless charging platform at the position corresponding to the target output voltage.
Description
DESCRIPTION 0503026
Method and system for adjusting landing accuracy of unmanned aerial vehicle based on wireless charging coupling mechanism
Technology Field
The present invention belongs to the technical field of line power transmission, and particularly relates to a method and a system for adjusting the landing accuracy of an unmanned aerial vehicle based on a wireless charging coupling mechanism.
At present, the location of UAV landing site mainly depends on GPS(Global Positioning
System) and RTK(Real Time Kinematic) technology. Through the GPS device, the UAV can roughly land at the designated position, but the final positioning error is relatively large due to the great influence of signals; With RTK equipment, the positioning error can be controlled in centimeter level. However, due to the positioning error, it is inevitable that the position deviation will occur when the UAV is docked on the wireless charging platform, which will lead to problems such as low charging efficiency, long charging time, large energy loss and so on.
To solve the above problems, the invention provides a method and a system for adjusting the landing accuracy of an unmanned aerial vehicle based on a wireless charging coupling mechanism, and the specific technical scheme is as follows:
The invention relates to an unmanned aerial vehicle landing precision adjustment method based on a wireless charging coupling mechanism, which comprises a primary circuit structure arranged in a wireless charging platform and a secondary circuit structure arranged in the unmanned aerial vehicle, wherein the primary circuit structure comprises a primary transmitting coil and the secondary circuit structure comprises a secondary receiving coil;
The method for adjusting the landing accuracy of the unmanned aerial vehicle comprises the following steps:
. . . . . . LU503024
S1, when the unmanned aerial vehicle flies back to the wireless charging platform, the primary transmitting coil is controlled to be energized, and the unmanned aerial vehicle is controlled to enter a landing position searching mode, wherein the landing position searching mode comprises reducing the charging power of the unmanned aerial vehicle to a first preset power threshold;
S2, controlling the unmanned aerial vehicle to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy, and obtaining the output voltage of the secondary circuit structure in the flight process to determine a target output voltage, wherein the target output voltage is equal to the output voltage when the preset maximum output voltage value is reached;
S3, controlling the unmanned aerial vehicle to land on the wireless charging platform at the position corresponding to the target output voltage.
Preferably, before the step S1 controls the primary transmitting coil to be energized and the unmanned aerial vehicle to enter the landing position searching mode, it further comprises: detecting whether the height of the unmanned aerial vehicle from the wireless charging platform is equal to a preset height threshold,
If yes, the primary transmitting coil is controlled to be energized, and the unmanned aerial vehicle is controlled to enter a landing position searching mode; otherwise, the unmanned aerial vehicle is controlled to land at a position which is equal to a preset height threshold from the wireless charging platform.
Preferably, in step S2, controlling the UAV to fly at the same preset altitude above the wireless charging platform according to the preset trajectory strategy comprises controlling the UAV to fly at the same preset altitude above the wireless charging platform along a preset traverse trajectory until the position corresponding to the target output voltage is found.
Preferably, the preset traversal trajectory comprises a positive Z-shaped trajectory, a Z-shaped trajectory rotated by 90 degrees or a spiral trajectory from inside to outside.
Preferably, after the step S3 controls the UAV to land on the wireless charging platform at the position corresponding to the target output voltage, the step S3 further comprises:
S4, controlling the unmanned aerial vehicle to return to a wireless charging mode from the LUS03024 landing position searching mode for wireless charging, wherein the wireless charging mode comprises adjusting the charging power of the unmanned aerial vehicle to a second preset power threshold; The second preset power threshold is the charging power when the UAV lands on the wireless charging platform for normal wireless charging.
Preferably, the value range of the first preset power threshold is 20% to 30% of the second preset power threshold.
The UAV landing precision adjustment system based on wireless charging coupling mechanism includes wireless charging platform, UAV and wireless charging coupling mechanism. The wireless charging coupling mechanism comprises a primary circuit structure arranged inside the wireless charging platform and a secondary circuit structure arranged inside the unmanned aerial vehicle, wherein the primary circuit structure comprises a primary transmitting coil and the secondary circuit structure comprises a secondary receiving coil,
The wireless charging platform comprises a first communication module and a charging control module which communicate with an unmanned aerial vehicle, and the unmanned aerial vehicle comprises a second communication module, a ranging module and an unmanned aerial vehicle control module which communicate with the wireless charging platform and are matched with the first communication module;
The first communication module, the charging control module and the primary circuit structure are connected in sequence; The first communication module is connected with the second communication module; The second communication module, the ranging module and the secondary circuit structure are respectively connected with the UAV control module;
The unmanned aerial vehicle control module is used for controlling the flight state of the unmanned aerial vehicle and transmitting control signals to the charging control module through the second communication module of the unmanned aerial vehicle and the first communication module of the wireless charging platform when the unmanned aerial vehicle flies back to the wireless charging platform;
The charging control module is used for controlling the primary transmitting coil to be electrified” 503024 according to the received control signal;
The ranging module is used for measuring the distance between the unmanned aerial vehicle and the wireless charging platform and transmitting the measured data to the unmanned aerial vehicle control module;
The unmanned aerial vehicle control module is also used for controlling the secondary circuit structure to reduce the charging power of the unmanned aerial vehicle to the first preset power threshold, judging whether the height of the unmanned aerial vehicle from the wireless charging platform is equal to the preset height threshold according to the measurement result of the ranging module, and if not, adjusting the height of the unmanned aerial vehicle from the wireless charging platform until the distance between them is equal to the preset height threshold, And controlling the unmanned aerial vehicle to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy, acquiring the output voltage of the secondary circuit structure and determining the target output voltage during the flight process, and controlling the unmanned aerial vehicle to land on the wireless charging platform at the position corresponding to the target output voltage.
Preferably, the primary transmitting coil is a planar square coil, and the secondary receiving coil is a solenoid coil.
Preferably, the UAV control module is further used for adjusting the charging power of the UAV to a second preset power threshold after controlling the UAV to land at the corresponding position of the wireless charging platform.
Preferably, the ranging module comprises one of an ultrasonic ranging module or a laser ranging module.
The invention has the beneficial effects that the invention provides a method and a system for adjusting the landing accuracy of an unmanned aerial vehicle based on a wireless charging coupling mechanism, wherein the wireless charging coupling mechanism comprises a primary circuit structure arranged inside a wireless charging platform and a secondary circuit structure arranged inside the unmanned aerial vehicle, wherein the primary circuit structure comprises a
. ce . Lo. . . LU503024 primary transmitting coil and the secondary circuit structure comprises a secondary receiving coil; The method comprises the following steps: when an unmanned aerial vehicle flies back to a wireless charging platform, controlling a primary transmitting coil to be energized, and controlling the unmanned aerial vehicle to enter a landing position searching mode, wherein the landing position searching mode comprises reducing the charging power of the unmanned aerial vehicle to a first preset power threshold; Controlling the unmanned aerial vehicle to fly at the same preset height above the wireless charging platform according to the preset trajectory strategy, and obtaining the output voltage of the secondary circuit structure in the flight process, and determining the target output voltage, wherein the target output voltage is equal to the output voltage of the preset maximum output voltage value; Control the UAV to land on the wireless charging platform at the position corresponding to the target output voltage. In this way, the position landing accuracy of the UAV is improved, the position deviation when the UAV lands can be greatly improved, the wireless charging efficiency of the UAV by the wireless charging platform is effectively improved, the energy loss is reduced, and the charging time is shortened.
In order to more clearly explain the specific embodiment of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings needed in the description of the specific embodiment or the prior art. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, elements or parts are not necessarily drawn to actual scale.
Fig. 1 is a schematic diagram of a wireless charging coupling mechanism in the present invention;
Fig. 2 is a schematic flow diagram of the method of the present invention;
Fig. 3 is a schematic diagram of the relationship between output voltage and offset distance;
Fig. 4 1s a schematic diagram of the relationship between mutual inductance and offset distance between the primary transmitting coil and the secondary receiving coil;
Fig. 5 is a schematic diagram of the system principle of the present invention.
Detailed Embodiments LUS03024
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in the field without creative labor are within the scope of the present invention.
It should be understood that the terms "comprising" and "comprising" when used in this specification and appended claims indicate the presence of described features, integers, steps, operations, elements and/or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof.
It should also be understood that the terminology used in the specification of the present invention is only for the purpose of describing specific embodiments and is not intended to limit the present invention. As used in the present specification and appended claims, unless the context clearly indicates otherwise, singular forms of "a", "an" and "the" are intended to include plural forms.
It should be further understood that the term "and/or" used in the present specification and appended claims refers to any combination and all possible combinations of one or more items listed in association, and includes these combinations.
There will still be some errors in determining the landing position by GPS and RTK technology of UAV. In order to reduce the landing position error, this embodiment reduces the charging power of UAV, detects the output voltage of wireless charging coupling mechanism when UAV is at different positions with the same preset height above the wireless charging platform, and takes the position corresponding to the maximum output voltage as the landing place of UAV. In this way, the UAV is assisted in positioning, and the landing accuracy of UAV is improved. The embodiment provides a method for adjusting the landing accuracy of an unmanned aerial vehicle (UAV) based on a wireless charging coupling mechanism. The wireless charging coupling mechanism comprises a primary circuit structure arranged inside a wireless charging platform and a secondary circuit structure arranged inside the UAV, wherein the primary circuit structure comprises a primary transmitting coil and the secondary circuit structure comprises a secondary 03024 receiving coil; As shown in Figure 1, when the primary transmitting coil and the secondary receiving coil are coupled with each other, the primary transmitting coil wirelessly transmits electric energy to the secondary receiving coil, so that the wireless charging platform can wirelessly charge the UAV. The primary circuit structure includes a power supply (Udc in Figure 1), a full-bridge inverter (Q1, Q2, Q3, Q4 in Figure 1), a set of primary resonance compensation networks (L1p, Clp, C2p in Figure 1), and a primary transmitting coil (L1 in Figure 1) connected in sequence. The secondary circuit structure includes a secondary receiving coil (L2 in
Figure 1), a secondary resonance compensation network (CIS in Figure 1), a rectifying and filtering circuit (four diodes in Figure 1 and a capacitor to the right of the diodes) and a load (RL in Figure 1) which are connected in sequence. Optionally, in this embodiment, the primary transmitting coil is a planar square coil, and the secondary receiving coil is a solenoid coil.
As shown in fig. 2, the UAV landing accuracy adjustment method includes:
S1, when the unmanned aerial vehicle flies back to the wireless charging platform, the primary transmitting coil is controlled to be energized, and the unmanned aerial vehicle is controlled to enter a landing position searching mode, wherein the landing position searching mode comprises reducing the charging power of the unmanned aerial vehicle to a first preset power threshold.
Unmanned aerial vehicle (UAV) flies back to the wireless charging platform through GPS and
RTK technology, and the UAV sends a power-on signal to the wireless charging platform. After receiving the power-on signal from UAV, the wireless charging platform energizes the primary circuit structure to realize that the primary transmitting coil can work. And the UAV enters the landing position searching mode, that is, the charging power of the UAV is reduced to the first preset power threshold.
Optionally, in this embodiment, when the UAV is in the wireless charging mode, the charging power is the second preset power threshold, that is, the second preset power threshold is the charging power when the UAV lands on the wireless charging platform for normal wireless charging. Optionally, in this embodiment, the value range of the first preset power threshold includes 20% to 30% of the second preset power threshold. When the charging power of the
UAV is the first preset power threshold, the UAV can't perform normal and efficient wireless LUS03024 charging.
Optionally, in this embodiment, when the UAV flies back to the wireless charging platform, it is first detected whether the height of the UAV from the wireless charging platform is equal to a preset height threshold; If yes, the primary transmitting coil is controlled to be energized, and the unmanned aerial vehicle is controlled to enter a landing position searching mode; otherwise, the unmanned aerial vehicle is controlled to land at a position which is equal to a preset height threshold from the wireless charging platform. Optionally, in this embodiment, the preset height threshold can be set according to actual requirements, such as 10cm, 9cm, 8cm, etc.
S2, controlling the unmanned aerial vehicle to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy, and obtaining the output voltage of the secondary circuit structure in the flight process to determine a target output voltage, wherein the target output voltage is equal to the output voltage when the preset maximum output voltage value is reached.
The output voltage is equal to the preset maximum output voltage value;
The output voltage of the secondary circuit structure is the voltage UL of the load RL in fig. 1.
Optionally, in this embodiment, the preset height is equal to the preset height threshold, for example, when the preset height threshold is 10cm, the preset height is also 10cm.
The preset maximum output voltage value is stored in the UAV in advance. During the flight of the UAV at the same preset altitude above the wireless charging platform according to the preset trajectory strategy, the output voltage of the secondary circuit structure collected at different positions is continuously compared with the preset maximum output voltage value until the position corresponding to the target output voltage is found.
Optionally, in one embodiment, controlling the unmanned aerial vehicle to fly at the same preset altitude above the wireless charging platform according to the preset trajectory strategy includes controlling the unmanned aerial vehicle to fly at the same preset altitude above the wireless charging platform along the preset traverse trajectory until the position corresponding to the target output voltage is found. By using GPS and RTK technology, the UAV flies back to the wireless charging platform, and the positioning error has been controlled at centimeter level. ot 503024 this basis, the range of the preset traversal trajectory can also be set to be smaller, thus shortening the time for finding the position corresponding to the target output voltage. The preset traversal trajectory can be a continuous round trip along the Z-shaped route, a positive Z-shaped path or a
Z-shaped path rotated by 90 degrees. The UAV flies at the same preset height above the wireless charging platform along the preset traversal trajectory, and stops searching after finding the position corresponding to the target output voltage.
Optionally, in another embodiment, controlling the unmanned aerial vehicle to fly at the same preset altitude above the wireless charging platform according to the preset trajectory strategy includes controlling the unmanned aerial vehicle to fly at the same preset altitude above the wireless charging platform from the current position, and the flying altitude is at the same preset altitude above the wireless charging platform until the position corresponding to the target output voltage is found. The UAV flies back to the wireless charging platform through GPS and RTK technology, and the positioning error has been controlled in centimeter level at this time. On this basis, the range of the preset spiral trajectory can also be set smaller, shortening the time to find the position corresponding to the target output voltage. The unmanned aerial vehicle (UAV) starts to fly from the current position according to the preset spiral trajectory from inside to outside, and stops searching after finding the position corresponding to the target output voltage.
Optionally, in this embodiment, during the flight of the UAV, the output voltage can be continuously collected, or the output voltage can be collected at a preset time interval.
See fig. 3 and fig. 4. The UAV is suspended at a distance of 10cm from the wireless charging platform. The primary transmitting coil is a planar square coil, and the secondary receiving coil is a solenoid coil parallel to the Y direction. The UAV scans the whole wireless charging platform from the initial position. See Figure 3 for the relationship between output voltage and offset distance, and Figure 4 for the relationship between mutual inductance and offset distance between the primary transmitting coil and the secondary receiving coil. It can be seen from fig. 3 and fig. 4 that the larger the offset distance in the x direction, the smaller the mutual inductance and the smaller the output voltage; When the Y direction shifts, because the secondary receiving coil is a solenoid coil, when the primary transmitting coil coincides with the secondary receiving coil, the mutual inductance between the two coils is the largest, and the output voltage is the LUS03024 largest.
S3, controlling the unmanned aerial vehicle to land on the wireless charging platform at the position corresponding to the target output voltage.
After the step S3 controls the unmanned aerial vehicle to land on the wireless charging platform at the position corresponding to the target output voltage, it further comprises:
S4, controlling the unmanned aerial vehicle to return to a wireless charging mode from the landing position searching mode for wireless charging, wherein the wireless charging mode comprises adjusting the charging power of the unmanned aerial vehicle to a second preset power threshold; The second preset power threshold is the charging power when the UAV lands on the wireless charging platform for normal wireless charging.
Through the implementation of this embodiment, the position landing accuracy of the UAV is improved, the position deviation when the UAV lands can be greatly improved, the wireless charging efficiency of the UAV by the wireless charging platform is effectively improved, the energy loss is reduced, and the charging time is shortened.
Example 2:
This embodiment provides an unmanned aerial vehicle (UAV) landing precision adjustment system based on wireless charging coupling mechanism, which comprises a wireless charging platform, an UAV and a wireless charging coupling mechanism. The wireless charging coupling mechanism comprises a primary circuit structure arranged inside the wireless charging platform and a secondary circuit structure arranged inside the unmanned aerial vehicle, wherein the primary circuit structure comprises a primary transmitting coil and the secondary circuit structure comprises a secondary receiving coil.
As shown in Figure 1, when the primary transmitting coil and the secondary receiving coil are coupled with each other, the primary transmitting coil wirelessly transmits electric energy to the secondary receiving coil, so that the wireless charging platform can wirelessly charge the UAV.
The primary circuit structure includes a power supply (Udc in Figure 1), a full-bridge inverter (Q1, Q2, Q3, Q4 in Figure 1), a set of primary resonance compensation networks (L1p, Clp,
C2p in Figure 1), and a primary transmitting coil (L1 in Figure 1) connected in sequence. The LUS03024 secondary circuit structure includes a secondary receiving coil (L2 in Figure 1), a secondary resonance compensation network (CIS in Figure 1), a rectifying and filtering circuit (four diodes in Figure 1 and a capacitor to the right of the diodes) and a load (RL in Figure 1) which are connected in sequence. Optionally, in this embodiment, the primary transmitting coil is a planar square coil, and the secondary receiving coil is a solenoid coil.
The wireless charging platform comprises a first communication module and a charging control module which communicate with an unmanned aerial vehicle, and the unmanned aerial vehicle comprises a second communication module, a ranging module and an unmanned aerial vehicle control module which communicate with the wireless charging platform and are matched with the first communication module;
The first communication module, the charging control module and the primary circuit structure are connected in sequence; The first communication module is connected with the second communication module; The second communication module, the ranging module and the secondary circuit structure are respectively connected with the UAV control module;
The unmanned aerial vehicle control module is used for controlling the flight state of the unmanned aerial vehicle and transmitting control signals to the charging control module through the second communication module of the unmanned aerial vehicle and the first communication module of the wireless charging platform when the unmanned aerial vehicle flies back to the wireless charging platform;
The charging control module is used for controlling the primary transmitting coil to be electrified according to the received control signal;
The ranging module is used for measuring the distance between the unmanned aerial vehicle and the wireless charging platform and transmitting the measured data to the unmanned aerial vehicle control module; The ranging module includes one of ultrasonic ranging module or laser ranging module.
The unmanned aerial vehicle control module is also used for controlling the secondary circuit structure to reduce the charging power of the unmanned aerial vehicle to the first preset power threshold, judging whether the height of the unmanned aerial vehicle from the wireless charging 903024 platform is equal to the preset height threshold according to the measurement result of the ranging module, and if not, adjusting the height of the unmanned aerial vehicle from the wireless charging platform until the distance between them is equal to the preset height threshold, And controlling the unmanned aerial vehicle to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy, acquiring the output voltage of the secondary circuit structure and determining the target output voltage during the flight process, and controlling the unmanned aerial vehicle to land on the wireless charging platform at the position corresponding to the target output voltage.
The unmanned aerial vehicle control module 1s also used for adjusting the charging power of the unmanned aerial vehicle to a second preset power threshold after controlling the unmanned aerial vehicle to land at the corresponding position of the wireless charging platform.
There will still be some errors in determining the landing position by GPS and RTK technology of UAV. In order to reduce the landing position error, this embodiment reduces the charging power of UAV, detects the output voltage of wireless charging coupling mechanism when UAV is at different positions with the same preset height above the wireless charging platform, and takes the position corresponding to the maximum output voltage as the landing place of UAV. In this way, the UAV 1s assisted in positioning, and the landing accuracy of UAV 1s improved.
The working principle of this system 1s:
The UAV control module controls the UAV to fly back to the wireless charging platform through GPS and RTK technology, and the ranging module of the UAV detects whether the height of the UAV from the wireless charging platform is equal to the preset height threshold,
Then the UAV control module judges whether the height of the UAV from the wireless charging platform is equal to the preset height threshold according to the ranging data of the ranging module. If it is not equal to the preset height threshold, the UAV control module adjusts the height of the UAV from the wireless charging platform until the distance between them is equal to the preset height threshold. The preset height threshold can be set according to actual requirements, such as 10cm, 9cm, 8cm, etc.
Then, the UAV control module sends a power-on signal to the wireless charging platform LUS03024 through the second communication module and the first communication module, and the charging control module of the wireless charging platform receives the power-on signal sent by the UAV control module through the first communication module and then controls the primary circuit structure to be powered on, so that the primary transmitting coil can work.
The UAV control module controls the UAV to enter the landing position search mode, that is, the UAV control module reduces the charging power of the UAV to the first preset power threshold. When the UAV is in wireless charging mode, the charging power is the second preset power threshold, that is, the second preset power threshold is the charging power when the UAV lands on the wireless charging platform for normal wireless charging. The value range of the first preset power threshold includes 20% to 30% of the second preset power threshold. When the charging power of the UAV is the first preset power threshold, the UAV can't perform normal and efficient wireless charging.
The UAV control module controls the UAV to fly at the same preset height above the wireless charging platform according to the preset trajectory strategy, and obtains the output voltage of the secondary circuit structure in the flight process to determine the target output voltage, which is the output voltage when it is equal to the preset maximum output voltage value; The output voltage of the secondary circuit structure is the voltage UL of the load RL in fig. 1. In this embodiment, the preset height is equal to the preset height threshold, for example, when the preset height threshold is 10cm, the preset height is also 10cm.
A preset maximum output voltage value is stored in the UAV control module in advance, and the
UAV control module controls the UAV to continuously compare the output voltages of the secondary circuit structures collected at different positions with the preset maximum output voltage value in the process of flying at the same preset altitude above the wireless charging platform according to the preset trajectory strategy until the position corresponding to the target output voltage is found.
Optionally, in one embodiment, the UAV control module controls the UAV to fly at the same preset altitude above the wireless charging platform according to the preset trajectory strategy, including: the UAV flies at the same preset altitude above the wireless charging platform along the preset traversal trajectory until the position corresponding to the target output voltage is LUS03024 found. The UAV control module controls the UAV to fly back to the wireless charging platform through GPS and RTK technology. At this time, the positioning error has been controlled in centimeter level. On this basis, the range of the preset traversal trajectory can also be set to be smaller, thus shortening the time for finding the position corresponding to the target output voltage. The preset traversal trajectory can be a continuous round trip along the Z-shaped route, a positive Z-shaped trajectory, a Z-shaped trajectory rotated by 90 degrees, or a spiral trajectory from inside to outside. The UAV flies at the same preset height above the wireless charging platform along the preset traversal trajectory, and stops searching after finding the position corresponding to the target output voltage.
Optionally, in this embodiment, during the flight of the UAV, the UAV control module can continuously collect the output voltage or collect the output voltage at a preset time interval.
See fig. 3 and fig. 4. The UAV is suspended at a distance of 10cm from the wireless charging platform. The primary transmitting coil is a planar square coil, and the secondary receiving coil is a solenoid coil parallel to the Y direction. The UAV scans the whole wireless charging platform from the initial position. See Figure 3 for the relationship between output voltage and offset distance, and Figure 4 for the relationship between mutual inductance and offset distance between the primary transmitting coil and the secondary receiving coil. It can be seen from fig. 3 and fig. 4 that the larger the offset distance in the x direction, the smaller the mutual inductance and the smaller the output voltage; When the Y direction shifts, because the secondary receiving coil is a solenoid coil, when the primary transmitting coil coincides with the secondary receiving coil, the mutual inductance between the two coils is the largest, and the output voltage is the largest.
The UAV control module controls the UAV to land on the wireless charging platform at the position corresponding to the target output voltage.
Optionally, in this embodiment, after the UAV lands on the wireless charging platform at the position corresponding to the target output voltage, it further comprises: the UAV control module controls the UAV to return to the wireless charging mode from the landing position searching mode for wireless charging, and the wireless charging mode includes adjusting the LUS03024 charging power of the UAV to the second preset power threshold.
Through the implementation of this embodiment, the position landing accuracy of the UAV is improved, the position deviation when the UAV lands can be greatly improved, the wireless charging efficiency of the UAV by the wireless charging platform is effectively improved, the energy loss is reduced, and the charging time is shortened.
Those of ordinary skill in the art can realize that the units of each example described in connection with the embodiments disclosed herein can be realized by electronic hardware, computer software or the combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components of each example have been generally described in terms of functions in the above description. Whether these functions are performed by hardware or software depends on the specific application and design constraints of the technical scheme.
Professionals can use different methods to realize the described functions for each specific application, but this realization should not be considered beyond the scope of the present invention.
In the embodiment provided in this application, it should be understood that the division of units is only a logical function division, and there may be other division modes in actual implementation, for example, a plurality of units can be combined into one unit, a unit can be split into a plurality of units, or some features can be ignored.
Finally, it should be explained that the above embodiments are only used to illustrate the technical scheme of the present invention, but not to limit it; Although the invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that it can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all technical features thereof, These modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of various embodiments of the present invention, but should be covered in the scope of the claims and the specification of the present invention.
Claims (10)
1. A method for adjusting the landing accuracy of an unmanned aerial vehicle (UAV) based on a wireless charging coupling mechanism, characterized in that the wireless charging coupling mechanism comprises a primary circuit structure arranged inside a wireless charging platform and a secondary circuit structure arranged inside the UAV, wherein the primary circuit structure comprises a primary transmitting coil and the secondary circuit structure comprises a secondary receiving coil; wherein the method for adjusting the landing accuracy of the unmanned aerial vehicle comprises the following steps:
S1. when the unmanned aerial vehicle flies back to the wireless charging platform, the primary transmitting coil is controlled to be energized, and the unmanned aerial vehicle is controlled to enter a landing position searching mode, wherein the landing position searching mode comprises reducing the charging power of the unmanned aerial vehicle to a first preset power threshold;
S2. controlling the unmanned aerial vehicle to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy, and obtaining the output voltage of the secondary circuit structure in the flight process to determine a target output voltage, wherein the target output voltage is equal to the output voltage when the preset maximum output voltage value is reached;
S3. controlling the unmanned aerial vehicle to land on the wireless charging platform at the position corresponding to the target output voltage.
2. The method for adjusting the landing accuracy of unmanned aerial vehicle based on wireless charging coupling mechanism according to claim 1, characterized in that before controlling the primary transmitting coil to be energized and the unmanned aerial vehicle to enter the landing position searching mode in step S1, it further comprises: detecting whether the height of the unmanned aerial vehicle from the wireless charging platform is equal to a preset height threshold; and if yes, the primary transmitting coil is controlled to be energized, and the unmanned aerial vehicle is controlled to enter a landing position searching mode; otherwise, the unmanned aerial vehicle is controlled to land at a position which is equal to a preset height threshold from the LUS03024 wireless charging platform.
3. The method for adjusting the landing accuracy of unmanned aerial vehicle based on wireless charging coupling mechanism according to claim 1, characterized in that in step S2, controlling the unmanned aerial vehicle to fly at the same preset altitude above the wireless charging platform according to a preset trajectory strategy comprises controlling the unmanned aerial vehicle to fly at the same preset altitude above the wireless charging platform along a preset traverse trajectory until the position corresponding to the target output voltage is found.
4. The method for adjusting the landing accuracy of unmanned aerial vehicle based on wireless charging coupling mechanism according to claim 3, characterized in that the preset traversal trajectory includes a positive Z-shaped trajectory, a Z-shaped trajectory rotated by 90 degrees or a spiral trajectory from inside to outside.
5. The method for adjusting the landing accuracy of unmanned aerial vehicle based on wireless charging coupling mechanism according to claim 1, characterized in that after the step S3 controls the unmanned aerial vehicle to land on the wireless charging platform at the position corresponding to the target output voltage, the step S3 further comprises:
S4. controlling the unmanned aerial vehicle to return to a wireless charging mode from the landing position searching mode for wireless charging, wherein the wireless charging mode comprises adjusting the charging power of the unmanned aerial vehicle to a second preset power threshold; the second preset power threshold is the charging power when the UAV lands on the wireless charging platform for normal wireless charging.
6. The method for adjusting the landing accuracy of unmanned aerial vehicle based on wireless charging coupling mechanism according to claim 5, characterized in that the value range of the first preset power threshold is 20% to 30% of the second preset power threshold.
7. The UAV landing accuracy adjustment system based on wireless charging coupling mechanism is characterized by comprising a wireless charging platform, an UAV and a wireless charging coupling mechanism; the wireless charging coupling mechanism comprises a primary circuit structure arranged inside the wireless charging platform and a secondary circuit structure arranged inside the unmanned aerial vehicle, wherein the primary circuit structure comprises a LUS03024 primary transmitting coil and the secondary circuit structure comprises a secondary receiving coil; the wireless charging platform comprises a first communication module and a charging control module which communicate with an unmanned aerial vehicle, and the unmanned aerial vehicle comprises a second communication module, a ranging module and an unmanned aerial vehicle control module which communicate with the wireless charging platform and are matched with the first communication module; the first communication module, the charging control module and the primary circuit structure are connected in sequence; the first communication module is connected with the second communication module; the second communication module, the ranging module and the secondary circuit structure are respectively connected with the UAV control module; the unmanned aerial vehicle control module is used for controlling the flight state of the unmanned aerial vehicle and transmitting control signals to the charging control module through the second communication module of the unmanned aerial vehicle and the first communication module of the wireless charging platform when the unmanned aerial vehicle flies back to the wireless charging platform; the charging control module is used for controlling the primary transmitting coil to be electrified according to the received control signal; the ranging module is used for measuring the distance between the unmanned aerial vehicle and the wireless charging platform and transmitting the measured data to the unmanned aerial vehicle control module; and the unmanned aerial vehicle control module is also used for controlling the secondary circuit structure to reduce the charging power of the unmanned aerial vehicle to the first preset power threshold, judging whether the height of the unmanned aerial vehicle from the wireless charging platform is equal to the preset height threshold according to the measurement result of the ranging module, and if not, adjusting the height of the unmanned aerial vehicle from the wireless charging platform until the distance between them is equal to the preset height threshold, and controlling the unmanned aerial vehicle to fly at the same preset height above the wireless LUS03024 charging platform according to a preset trajectory strategy, acquiring the output voltage of the secondary circuit structure and determining the target output voltage during the flight process, and controlling the unmanned aerial vehicle to land on the wireless charging platform at the position corresponding to the target output voltage.
8. The UAV landing accuracy adjustment system based on wireless charging coupling mechanism according to claim 7, characterized in that the primary transmitting coil is a planar square coil, and the secondary receiving coil is a solenoid coil.
9. The UAV landing accuracy adjustment system based on wireless charging coupling mechanism according to claim 7, characterized in that the unmanned aerial vehicle control module is further used for adjusting the charging power of the unmanned aerial vehicle to the second preset power threshold after controlling the unmanned aerial vehicle to land at the corresponding position of the wireless charging platform.
10. The UAV landing accuracy adjustment system based on wireless charging coupling mechanism according to claim 7, characterized in that the ranging module comprises one of ultrasonic ranging module or laser ranging module.
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| CN202111110535.0A CN113671995B (en) | 2021-09-23 | 2021-09-23 | Unmanned aerial vehicle landing precision adjusting method and system based on wireless charging coupling mechanism |
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| KR101973148B1 (en) * | 2018-10-31 | 2019-08-26 | 한화시스템 주식회사 | Method and apparatus for drone battery charging |
| CN109950980A (en) * | 2019-03-25 | 2019-06-28 | 武汉理工大学 | Autonomous wireless charging platform and control method for unmanned plane |
| CN110239374B (en) * | 2019-06-21 | 2023-11-28 | 天津工业大学 | Unmanned aerial vehicle wireless charging device and method capable of achieving self-adaptive positioning |
| CN113085596B (en) * | 2021-03-04 | 2023-01-24 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle descending precision adjusting method and system based on charging coupling mechanism |
| CN113671995B (en) * | 2021-09-23 | 2023-08-22 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle landing precision adjusting method and system based on wireless charging coupling mechanism |
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| WO2023273284A1 (en) | 2023-01-05 |
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