WO2023273284A1 - 基于无线充电耦合机构的无人机降落精度调整方法及系统 - Google Patents

基于无线充电耦合机构的无人机降落精度调整方法及系统 Download PDF

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WO2023273284A1
WO2023273284A1 PCT/CN2022/070105 CN2022070105W WO2023273284A1 WO 2023273284 A1 WO2023273284 A1 WO 2023273284A1 CN 2022070105 W CN2022070105 W CN 2022070105W WO 2023273284 A1 WO2023273284 A1 WO 2023273284A1
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Prior art keywords
wireless charging
uav
drone
preset
output voltage
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PCT/CN2022/070105
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English (en)
French (fr)
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陈绍南
奉斌
俞小勇
陈干懿
秦丽文
吴丽芳
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广西电网有限责任公司电力科学研究院
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Publication of WO2023273284A1 publication Critical patent/WO2023273284A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • 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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • 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

Definitions

  • the invention belongs to the technical field of wire-to-wire power transmission, and in particular relates to a method and system for adjusting the landing precision of a drone based on a wireless charging coupling mechanism.
  • the positioning of the UAV landing site mainly relies on GPS (Global Positioning System, Global Positioning System) and RTK (Real Time Kinematic, real-time dynamic positioning) technology.
  • GPS Global Positioning System, Global Positioning System
  • RTK Real Time Kinematic, real-time dynamic positioning
  • the present invention provides a method and system for adjusting the landing accuracy of drones based on a wireless charging coupling mechanism.
  • the specific technical solutions are as follows:
  • the wireless charging coupling mechanism includes a primary side circuit structure inside the wireless charging platform and a secondary side circuit structure inside the drone, the primary side circuit The structure includes a primary side transmitting coil, and the secondary side circuit structure includes a secondary side receiving coil;
  • the method for adjusting the landing accuracy of the drone includes:
  • the landing position search mode includes adjusting the The charging power of the drone reaches a first preset power threshold
  • S2 Control the UAV to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy, and obtain the output voltage of the secondary circuit structure during the flight, and determine the target output voltage, the The output voltage when the target output voltage is equal to the preset maximum output voltage value;
  • step S1 controls the power-on of the primary transmitter coil and controls the UAV to enter the landing position search mode, it also includes: detecting whether the height of the UAV from the wireless charging platform is equal to the preset altitude threshold;
  • control the primary transmitting coil to be energized, and control the UAV to enter the landing position search mode; otherwise, control the UAV to land at a distance equal to a preset height threshold from the wireless charging platform.
  • controlling the UAV to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy includes: controlling the UAV to fly at the same preset height above the wireless charging platform. Fly along the preset traversal trajectory at the preset altitude until the position corresponding to the target output voltage is found.
  • the preset traversal track includes a positive "Z” track, a “Z” track rotated by 90 degrees, or a spiral track from inside to outside.
  • step S3 controls the UAV to land on the wireless charging platform at the position corresponding to the target output voltage, it also includes:
  • the value range of the first preset power threshold is 20% to 30% of the second preset power threshold.
  • the UAV landing accuracy adjustment system based on the wireless charging coupling mechanism includes a wireless charging platform, a UAV, and a wireless charging coupling mechanism;
  • the wireless charging coupling mechanism includes a primary side circuit structure and a setting inside the wireless charging platform
  • the primary circuit structure includes a primary transmitting coil
  • the secondary circuit structure includes a secondary receiving coil;
  • the wireless charging platform includes a first communication module and a charging control module that communicate with the UAV, and the UAV includes a second communication module that communicates with the wireless charging platform and matches the first communication module, and a measurement module.
  • the first communication module, the charging control module, and the primary circuit structure are connected in sequence; the first communication module is connected to the second communication module; the second communication module, the ranging module, and the secondary circuit structure are respectively connected to the unmanned Machine control module connection;
  • the drone control module is used to control the flight state of the drone, and when the drone flies back to the wireless charging platform, the second communication module of the drone and the first communication module of the wireless charging platform will control The signal is transmitted to the charging control module;
  • the charging control module is used to control the primary transmitting coil to be energized according to the received control signal
  • the ranging module is used to measure the distance between the UAV and the wireless charging platform and transmit the measurement data to the UAV control module;
  • the UAV control module is also used to control the secondary side circuit structure to reduce the charging power of the UAV to the first preset power threshold, and judge the distance between the UAV and the wireless device according to the measurement results of the ranging module. Whether the height of the charging platform is equal to the preset height threshold, if not equal to the preset height threshold, then adjust the height of the drone from the wireless charging platform until the distance between the two is equal to the preset height threshold, and control the drone according to The preset trajectory strategy is to fly at the same preset height above the wireless charging platform, and obtain the output voltage of the secondary circuit structure during the flight and determine the target output voltage, and control the drone to output at the target output voltage. The position corresponding to the voltage drops onto the wireless charging platform.
  • the primary transmitting coil is a planar square coil
  • the secondary receiving coil is a solenoid coil
  • the UAV control module is further configured to adjust the charging power of the UAV to a second preset power threshold after controlling the UAV to land on the corresponding position of the wireless charging platform.
  • the ranging module includes one of an ultrasonic ranging module or a laser ranging module.
  • the present invention provides a method and system for adjusting the landing precision of a drone based on a wireless charging coupling mechanism.
  • the secondary side circuit structure, the primary side circuit structure includes the primary side transmitting coil, and the secondary side circuit structure includes the secondary side receiving coil;
  • the method includes: when the drone flies back to the wireless charging platform, control the primary side transmitting coil
  • the UAV enters the landing position search mode, and the landing position search mode includes reducing the charging power of the UAV to the first preset power threshold; controlling the UAV at the same preset height above the wireless charging platform according to the preset trajectory strategy Fly, and obtain the output voltage of the secondary circuit structure during the flight, determine the target output voltage, the target output voltage is the output voltage equal to the preset maximum output voltage value; control the UAV to land at the position corresponding to the target output voltage Wireless charging platform.
  • the landing accuracy of the drone is improved, which can greatly improve the position deviation when the drone lands, effectively improve the wireless charging efficiency of the wireless charging platform for the drone
  • Fig. 1 is a schematic diagram of a wireless charging coupling mechanism in the present invention
  • Fig. 2 is a schematic flow chart of the method of the present invention.
  • Fig. 3 is a schematic diagram of the relationship between the output voltage and the offset distance
  • 4 is a schematic diagram of the relationship between the mutual inductance and the 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.
  • the UAV determines the landing position through GPS and RTK technology, and there will still be certain errors.
  • this embodiment adjusts the charging power of the UAV to a small value, and detects the UAV at this charging power.
  • the output voltage of the wireless charging coupling mechanism at different positions of the same preset height above the wireless charging platform, and the position corresponding to the maximum output voltage is used as the place where the drone lands. In this way, the auxiliary positioning of the drone is carried out. Improved drone landing accuracy.
  • This embodiment provides a method for adjusting the landing accuracy of a drone based on a wireless charging coupling mechanism.
  • the wireless charging coupling mechanism includes a primary side circuit structure inside the wireless charging platform and a secondary side circuit inside the drone.
  • the primary side circuit structure includes a primary side transmitting coil
  • the secondary side circuit structure includes a secondary side receiving coil; as shown in Figure 1, when the primary side transmitting coil and the secondary side receiving coil are coupled to each other, the primary side transmitting coil
  • the receiving coil on the secondary side transmits electric energy wirelessly to realize the wireless charging platform for wireless charging of the UAV.
  • the primary side circuit structure includes sequentially connected power supplies (U dc in Fig. 1), full-bridge inverters (Q 1 , Q 2 , Q 3 , Q 4 in Fig. 1 ), a set of primary side resonant compensation networks (Fig. 1 in L 1p , C 1p , C 2p ), and the primary transmitter coil (L 1 in Figure 1 ).
  • the secondary side circuit structure includes a sequentially connected secondary side receiving coil (L 2 in Figure 1), a secondary side resonant compensation network (C 1S in Figure 1), a rectifier filter circuit (four diodes in Figure 1 and the right side of the diode a capacitor) and the load ( RL in Figure 1).
  • the primary transmitting coil is a planar square coil
  • the secondary receiving coil is a solenoid coil.
  • the method for adjusting the landing accuracy of the drone includes:
  • the landing position search mode includes adjusting the The charging power of the drone reaches the first preset power threshold.
  • the drone flies back to the wireless charging platform through GPS and RTK technology.
  • the drone sends a power-on signal to the wireless charging platform.
  • the wireless charging platform powers up the primary circuit structure to realize The transmitting coil on the primary side can work; and the UAV enters the landing position search mode, that is, the charging power of the UAV is reduced to the first preset power threshold.
  • the charging power is the second preset power threshold, that is, the second preset power threshold is when the UAV lands on the wireless charging platform for normal wireless charging. Charging power during charging.
  • the value range of the first preset power threshold includes 20% to 30% of the second preset power threshold.
  • the UAV when the UAV flies back to the wireless charging platform, it first detects whether the height of the UAV from the wireless charging platform is equal to the preset height threshold; if so, then control the primary side transmitting coil Power on, and control the UAV to enter the landing position search mode, otherwise, control the UAV to land at a distance equal to a preset height threshold from the wireless charging platform.
  • the preset height threshold can be set according to actual needs, for example, it can be 10cm, 9cm, 8cm and so on.
  • S2 Control the UAV to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy, and obtain the output voltage of the secondary circuit structure during the flight, and determine the target output voltage, the The output voltage when the target output voltage is equal to the preset maximum output voltage value.
  • the output voltage 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 .
  • the preset height is equal to the preset height threshold, for example, when the preset height threshold is 10 cm, the preset height is also 10 cm.
  • the preset maximum output voltage value is pre-stored in the UAV. During the flight of the UAV at the same preset height above the wireless charging platform according to the preset trajectory strategy, the secondary circuit structure collected at different positions is continuously collected. The output voltage is compared with the preset maximum output voltage until the position corresponding to the target output voltage is found.
  • controlling the UAV to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy includes: controlling the UAV to fly along the same preset height above the wireless charging platform The preset traverses the trajectory to fly 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. At this time, the positioning error has been controlled at the centimeter level.
  • the range of the preset traversal trajectory can also be set to be smaller, shortening the search for the target output voltage. corresponding location time.
  • the preset traversal trajectory can be a continuous round trip along the "Z"-shaped route, a regular "Z" shape, or a "Z" shape rotated 90 degrees. The drone flies along the preset traversal trajectory at the same preset height above the wireless charging platform, and stops searching after finding the position corresponding to the target output voltage.
  • controlling the UAV to fly at the same preset height above the wireless charging platform according to a preset trajectory strategy includes: controlling the UAV to start from the current position and follow the path from the inside to the outside. Fly on the preset spiral trajectory, and the flight height is at the same preset height 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. At this time, the positioning error has been controlled at the centimeter level.
  • the range of the preset spiral trajectory can also be set smaller to shorten the output of finding the target.
  • the voltage corresponds to the time of the position.
  • the UAV starts to fly from the current position according to the preset spiral trajectory from the inside to the outside, and stops looking after finding the position corresponding to the target output voltage.
  • the output voltage may be collected continuously, or the output voltage may be collected at preset time intervals.
  • the UAV is suspended at a distance of 10cm from the wireless charging platform.
  • Figure 3 for the relationship between the output voltage and the offset distance
  • Figure 4 for the relationship between the mutual inductance between the primary transmitting coil and the secondary receiving coil and the offset distance; from Figure 3 and Figure 4, it can be seen 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 is offset, because the secondary receiving coil is a solenoid coil, when the primary transmitting coil and the secondary When the receiving coils overlap, the mutual inductance of the two coils is the largest, and the output voltage is the largest.
  • step S3 controls the UAV to land on the wireless charging platform at the position corresponding to the target output voltage, it also includes:
  • the landing accuracy of the UAV is improved, which can greatly improve the position deviation when the UAV lands, effectively improve the wireless charging efficiency of the UAV by the wireless charging platform, and reduce the energy consumption of the UAV. Loss and shorten the charging time.
  • This embodiment proposes a drone landing precision adjustment system based on a wireless charging coupling mechanism, including a wireless charging platform, a drone, and a wireless charging coupling mechanism;
  • the wireless charging coupling mechanism includes The primary side circuit structure and the secondary side circuit structure arranged inside the drone, the primary side circuit structure includes a primary side transmitting coil, and the secondary side circuit structure includes a secondary side receiving coil.
  • the primary side circuit structure includes sequentially connected power supplies (U dc in Fig. 1), full-bridge inverters (Q 1 , Q 2 , Q 3 , Q 4 in Fig. 1 ), a set of primary side resonant compensation networks (Fig. 1 in L 1p , C 1p , C 2p ), and the primary transmitter coil (L 1 in Figure 1 ).
  • the secondary side circuit structure includes the secondary receiving coil (L 2 in Fig. 1 ), secondary side resonant compensation network (C 1S in Fig.
  • the primary transmitting coil is a planar square coil
  • the secondary receiving coil is a solenoid coil
  • the wireless charging platform includes a first communication module and a charging control module that communicate with the UAV, and the UAV includes a second communication module that communicates with the wireless charging platform and matches the first communication module, and a measurement module.
  • the first communication module, the charging control module, and the primary circuit structure are connected in sequence; the first communication module is connected to the second communication module; the second communication module, the ranging module, and the secondary circuit structure are respectively connected to the unmanned Machine control module connection;
  • the drone control module is used to control the flight state of the drone, and when the drone flies back to the wireless charging platform, the second communication module of the drone and the first communication module of the wireless charging platform will control The signal is transmitted to the charging control module;
  • the charging control module is used to control the primary transmitting coil to be energized according to the received control signal
  • the ranging module is used to measure the distance between the UAV and the wireless charging platform and transmit the measurement data to the UAV control module; wherein the ranging module includes one of an ultrasonic ranging module or a laser ranging module.
  • the UAV control module is also used to control the secondary side circuit structure to reduce the charging power of the UAV to the first preset power threshold, and judge the distance between the UAV and the wireless device according to the measurement results of the ranging module. Whether the height of the charging platform is equal to the preset height threshold, if not equal to the preset height threshold, then adjust the height of the drone from the wireless charging platform until the distance between the two is equal to the preset height threshold, and control the drone according to The preset trajectory strategy is to fly at the same preset height above the wireless charging platform, and obtain the output voltage of the secondary circuit structure during the flight and determine the target output voltage, and control the drone to output at the target output voltage. The position corresponding to the voltage drops onto the wireless charging platform.
  • the drone control module is also used to adjust the charging power of the drone to a second preset power threshold after controlling the drone to land on the corresponding position of the wireless charging platform.
  • the UAV determines the landing position through GPS and RTK technology, and there will still be certain errors.
  • this embodiment adjusts the charging power of the UAV to a small value, and detects the UAV at this charging power.
  • the output voltage of the wireless charging coupling mechanism at different positions of the same preset height above the wireless charging platform, and the position corresponding to the maximum output voltage is used as the place where the drone lands. In this way, the auxiliary positioning of the drone is carried out. Improved drone landing accuracy.
  • the drone control module controls the drone to fly back to the wireless charging platform through GPS and RTK technology, and the ranging module of the drone detects whether the height of the drone from the wireless charging platform is equal to the preset height threshold; then the drone The control module judges whether the height of the drone from the wireless charging platform is equal to a preset height threshold according to the ranging data of the ranging module. If it is not equal to the preset height threshold, the drone control module adjusts the height of the drone from the wireless charging platform until the distance between the two is equal to the preset height threshold.
  • the preset height threshold can be set according to actual needs, for example, it can be 10cm, 9cm, 8cm, etc.
  • the UAV control module sends a power-on signal to the wireless charging platform through the second communication module and the first communication module, and the charging control module of the wireless charging platform controls after receiving the power-on signal from the UAV control module through the first communication module.
  • the circuit structure of the primary side is energized to realize that the transmitting coil of the primary side 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.
  • the charging power is the second preset power threshold, that is, the second preset power threshold is the charging power when the drone 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.
  • 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 during the flight, and determines the target output voltage.
  • the target output voltage is 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 .
  • the preset height is equal to the preset height threshold, for example, when the preset height threshold is 10 cm, the preset height is also 10 cm.
  • the preset maximum output voltage value is pre-stored in the UAV control module, and 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 constantly transfers different positions
  • the collected output voltage of the secondary circuit structure is compared with the preset maximum output voltage value until a position corresponding to the target output voltage is found.
  • 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. Set the altitude and fly along the preset traversal trajectory until the position corresponding to the target output voltage is 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 at the centimeter level. On this basis, the range of the preset traversal trajectory can also be set to be smaller , to shorten the time to find the position corresponding to the target output voltage.
  • the preset traversal trajectory can be a continuous back and forth along the "Z"-shaped route, can be a positive "Z” shape, can also be a "Z” shape rotated 90 degrees, or can be a spiral trajectory from inside to outside.
  • the drone flies along the preset traversal trajectory at the same preset height above the wireless charging platform, and stops searching after finding the position corresponding to the target output voltage.
  • control module of the drone may collect the output voltage continuously, or may collect the output voltage at preset time intervals.
  • the UAV is suspended at a distance of 10cm from the wireless charging platform.
  • Figure 3 for the relationship between the output voltage and the offset distance
  • Figure 4 for the relationship between the mutual inductance between the primary transmitting coil and the secondary receiving coil and the offset distance; from Figure 3 and Figure 4, it can be seen 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 is offset, because the secondary receiving coil is a solenoid coil, when the primary transmitting coil and the secondary When the receiving coils overlap, the mutual inductance of 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.
  • the drone control module controls the drone to switch back to wireless charging from the landing position search mode mode for wireless charging, and the wireless charging mode includes adjusting the charging power of the drone to a second preset power threshold.
  • the landing accuracy of the UAV is improved, which can greatly improve the position deviation when the UAV lands, effectively improve the wireless charging efficiency of the UAV by the wireless charging platform, and reduce the energy consumption of the UAV. Loss and shorten the charging time.
  • division of units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units can be combined into one unit, and one unit can be dismantled Divided into multiple units, or some features can be ignored, etc.

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Abstract

一种基于无线充电耦合机构的无人机降落精度调整方法及系统。方法包括：无人机飞回到无线充电平台处时，控制原边发射线圈通电，并控制无人机进入降落位置寻找模式，降落位置寻找模式包括调小无人机的充电功率至第一预设功率阈值（S1）；控制无人机按照预设轨迹策略在无线充电平台上方的同一预设高度进行飞行，并获取飞行过程中副边电路结构的输出电压，确定目标输出电压，目标输出电压为等于预设最大输出电压值时的输出电压（S2）；控制无人机在目标输出电压对应的位置处降落到无线充电平台（S3）。方法提高了无人机的位置降落精度，可极大程度地改善无人机降落时出现位置偏移情况，有效提高无线充电平台对无人机的无线充电效率，减少能量损耗，缩短充电时长。

Description

基于无线充电耦合机构的无人机降落精度调整方法及系统 技术领域
本发明属于线电能传输技术领域，具体涉及基于无线充电耦合机构的无人机降落精度调整方法及系统。
背景技术
目前，无人机降落地点的定位主要依赖GPS(Global Positioning System，全球定位系统)及RTK(Real Time Kinematic，实时动态定位)技术。无人机通过GPS装置，可以大致降落在指定位置，但由于受信号影响大，最终定位误差便比较大；再通过搭配RTK设备，可将定位误差控制在厘米级。但由于定位误差，无人机停靠在无线充电平台上难免会产生位置偏移，使得在对无人机进行无线充电过程中会出现充电效率低、充电时间长、能量损耗大等问题。
发明内容
为了解决上述问题，本发明提供了基于无线充电耦合机构的无人机降落精度调整方法及系统，具体技术方案如下：
基于无线充电耦合机构的无人机降落精度调整方法，所述无线充电耦合机构包括设置在无线充电平台内部的原边电路结构以及设置在无人机内部的副边电路结构，所述原边电路结构包括原边发射线圈，所述副边电路结构包括副边接收线圈；
所述无人机降落精度调整方法包括：
S1：所述无人机飞回到所述无线充电平台处时，控制所述原边发射线圈通电，并控制所述无人机进入降落位置寻找模式，所述降落位置寻找模式包括调小所述无人机的充电功率至第一预设功率阈值；
S2：控制所述无人机按照预设轨迹策略在所述无线充电平台上方的同一预设高度进行飞行，并获取飞行过程中所述副边电路结构的输出电压，确定目标输出电压，所述目标输出电压等于预设最大输出电压值时的所述输出电压；
S3：控制所述无人机在所述目标输出电压对应的位置处降落到所述无线充电平台上。
优选地，在步骤S1控制所述原边发射线圈通电，并控制所述无人机进入降落位置寻找模式之前，还包括：检测所述无人机距离所述无线充电平台的高度是否等于预设高度阈值；
若是，则控制所述原边发射线圈通电，并控制所述无人机进入降落位置寻找模式，否则，控制所述无人机降落至距离所述无线充电平台等于预设高度阈值处。
优选地，所述步骤S2中控制所述无人机按照预设轨迹策略在所述无线充电平台上方的同一预设高度进行飞行包括：控制所述无人机在所述无线充电平台上方的同一预设高度沿着预设遍历轨迹进行飞行，直至找到所述目标输出电压对应的位置。
优选地，所述预设遍历轨迹包括正“Z”字形轨迹、旋转90度的“Z”字形轨迹或者从内向外的螺旋形轨迹。
优选地，所述步骤S3控制所述无人机在所述目标输出电压对应的位置处降落到所述无线充电平台上之后还包括：
S4：控制所述无人机从所述降落位置寻找模式调回无线充电模式进行无线充电，所述无线充电模式包括调整无人机的充电功率至第二预设功率阈值；所述第二预设功率阈值为无人机降落在无线充电平台上进行正常无线充电时的充电功率。
优选地，所述第一预设功率阈值的取值范围为所述第二预设功率阈值的 20％至30％。
基于无线充电耦合机构的无人机降落精度调整系统，包括无线充电平台、无人机、无线充电耦合机构；所述无线充电耦合机构包括设置在所述无线充电平台内部的原边电路结构以及设置在所述无人机内部的副边电路结构，所述原边电路结构包括原边发射线圈，所述副边电路结构包括副边接收线圈；
所述无线充电平台包括与无人机进行通信的第一通信模块、充电控制模块，所述无人机包括与无线充电平台进行通信的并且与第一通信模块相匹配的第二通信模块、测距模块、无人机控制模块；
所述第一通信模块、充电控制模块、原边电路结构依次连接；所述第一通信模块与第二通信模块连接；所述第二通信模块、测距模块、副边电路结构分别与无人机控制模块连接；
所述无人机控制模块用于控制无人机的飞行状态，并在无人机飞回到无线充电平台处时通过无人机的第二通信模块、无线充电平台的第一通信模块将控制信号传输至充电控制模块；
所述充电控制模块用于根据接收到的控制信号控制原边发射线圈通电；
所述测距模块用于测量无人机与无线充电平台的距离并将测量数据传输至无人机控制模块；
所述无人机控制模块还用于控制副边电路结构调小所述无人机的充电功率至第一预设功率阈值，根据测距模块的测量结果判断所述无人机距离所述无线充电平台的高度是否等于预设高度阈值，若是不等于预设高度阈值，则调整无人机距离所述无线充电平台的高度直至二者距离等于预设高度阈值，以及控制所述无人机按照预设轨迹策略在所述无线充电平台上方的同一预设高度进行飞行，并获取飞行过程中所述副边电路结构的输出电压和确定目标输出电压、控 制所述无人机在所述目标输出电压对应的位置处降落到所述无线充电平台上。
优选地，所述原边发射线圈为平面型方形线圈，所述副边接收线圈位螺线管型线圈。
优选地，所述无人机控制模块还用于在控制所述无人机降落至所述无线充电平台的对应位置处后调整无人机的充电功率至第二预设功率阈值。
优选地，所述测距模块包括超声波测距模块或激光测距模块中的一种。
本发明的有益效果为：本发明提供了基于无线充电耦合机构的无人机降落精度调整方法及系统，无线充电耦合机构包括设置在无线充电平台内部的原边电路结构以及设置在无人机内部的副边电路结构，原边电路结构包括原边发射线圈，副边电路结构包括副边接收线圈；方法包括：无人机飞回到无线充电平台处时，控制原边发射线圈通电，并控制无人机进入降落位置寻找模式，降落位置寻找模式包括调小无人机的充电功率至第一预设功率阈值；控制无人机按照预设轨迹策略在无线充电平台上方的同一预设高度进行飞行，并获取飞行过程中副边电路结构的输出电压，确定目标输出电压，目标输出电压为等于预设最大输出电压值时的输出电压；控制无人机在目标输出电压对应的位置处降落到无线充电平台。通过上述方式，提高了无人机的位置降落精度，可极大程度地改善无人机降落时出现位置偏移情况，有效提高无线充电平台对无人机的无线充电效率，减少能量损耗，缩短充电时长。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍。在所有附图中，类似的元件或部分一般由类似的附图标记标识。附图中，各元件或部分并不一定按照实际的比例绘制。
图1为本发明中的无线充电耦合机构的示意图；
图2为本发明的方法流程示意图；
图3为输出电压与偏移距离的关系的示意图；
图4为原边发射线圈和副边接收线圈之间的互感与偏移距离的关系的示意图；
图5为本发明的系统原理示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
应当理解，当在本说明书和所附权利要求书中使用时，术语“包括”和“包含”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解，在本发明说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本发明。如在本发明说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当进一步理解，在本发明说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
无人机通过GPS及RTK技术确定降落位置，仍会存在一定的误差，为了 减小降落位置误差，本实施例通过调小无人机的充电功率，并在此充电功率下检测无人机在无线充电平台上方同一预设高度的不同位置时的无线充电耦合机构的输出电压，将输出电压最大值对应的位置处作为无人机降落的地方，通过这种方式进行无人机的辅助定位，提高无人机的降落精度。本实施例提供了一种基于无线充电耦合机构的无人机降落精度调整方法，所述无线充电耦合机构包括设置在无线充电平台内部的原边电路结构以及设置在无人机内部的副边电路结构，所述原边电路结构包括原边发射线圈，所述副边电路结构包括副边接收线圈；如图1所示，原边发射线圈与副边接收线圈相互耦合时，原边发射线圈向副边接收线圈无线传递电能，实现无线充电平台为无人机进行无线充电。原边电路结构包括顺序连接的电源(图1中的U dc)、全桥逆变器(图1中的Q 1、Q 2、Q 3、Q 4)、一组原边谐振补偿网络(图1中的L 1p、C 1p、C 2p)、以及原边发射线圈(图1中的L 1)。副边电路结构包括顺序连接的副边接收线圈(图1中的L 2)、副边谐振补偿网络(图1中的C 1S)、整流滤波电路(图1中的四个二极管和二极管右边的一个电容)以及负载(图1中的R L)。可选地，在本实施例中，原边发射线圈为平面型方形线圈，副边接收线圈位螺线管型线圈。
如图2所示，所述无人机降落精度调整方法包括：
S1：所述无人机飞回到所述无线充电平台处时，控制所述原边发射线圈通电，并控制所述无人机进入降落位置寻找模式，所述降落位置寻找模式包括调小所述无人机的充电功率至第一预设功率阈值。
无人机通过GPS及RTK技术飞回到无线充电平台处，无人机向无线充电平台发送通电信号，无线充电平台接收到无人机发来的通电信号之后，将原边电路结构通电，实现原边发射线圈可以工作；且无人机进入降落位置寻找模式，也即调小无人机的充电功率至第一预设功率阈值。
可选地，在本实施例中，无人机处于无线充电模式时，充电功率为第二预设功率阈值，也即第二预设功率阈值是无人机降落在无线充电平台上进行正常无线充电时的充电功率。可选地，在本实施例中，第一预设功率阈值的取值范围包括第二预设功率阈值的20％至30％。无人机的充电功率为第一预设功率阈值时，无人机不能进行正常高效的无线充电。
可选地，在本实施例中，无人机飞回到无线充电平台处时，先检测无人机距离无线充电平台的高度是否等于预设高度阈值；若是，则控制所述原边发射线圈通电，并控制所述无人机进入降落位置寻找模式，否则，控制所述无人机降落至距离所述无线充电平台等于预设高度阈值处。可选地，在本实施例中，预设高度阈值可以根据实际需求进行设置，例如可以为10cm、9cm、8cm等。
S2：控制所述无人机按照预设轨迹策略在所述无线充电平台上方的同一预设高度进行飞行，并获取飞行过程中所述副边电路结构的输出电压，确定目标输出电压，所述目标输出电压等于预设最大输出电压值时的所述输出电压。
输出电压为等于预设最大输出电压值时的输出电压；
副边电路结构的输出电压为图1中的负载R L的电压U L。
可选地，在本实施例中，预设高度等于预设高度阈值，例如预设高度阈值为10cm时，预设高度也为10cm。
无人机内预先存储预设最大输出电压值，无人机按照预设轨迹策略在无线充电平台上方的同一预设高度进行飞行的过程中，不断地将不同位置采集到的副边电路结构的输出电压与预设最大输出电压值进行比较，直至找到目标输出电压对应的位置。
可选地，在一种实施方式中，控制无人机按照预设轨迹策略在无线充电平台上方的同一预设高度进行飞行包括：控制无人机在无线充电平台上方的同一 预设高度沿着预设遍历轨迹进行飞行，直至找到目标输出电压对应的位置。无人机通过GPS及RTK技术飞回到无线充电平台处，此时定位误差已经被控制在厘米级，在此基础上，预设遍历轨迹的范围也可以设置得较小，缩短寻找目标输出电压对应的位置的时间。预设遍历轨迹可以是沿“Z”字形路线不断的往返，可以是正“Z”字形，也可以是旋转90度的“Z”字形。无人机在无线充电平台上方的同一预设高度沿着预设遍历轨迹进行飞行，找到目标输出电压对应的位置之后，便停止寻找。
可选地，在另一种实施方式中，控制无人机按照预设轨迹策略在无线充电平台上方的同一预设高度进行飞行包括：控制无人机从当前所处位置处开始按照从内向外的预设螺旋形轨迹进行飞行，且飞行高度在无线充电平台上方的同一预设高度，直至找到目标输出电压对应的位置。无人机通过GPS及RTK技术飞回到无线充电平台处，此时定位误差已经被控制在厘米级，在此基础上，预设螺旋形轨迹的范围也可以设置得较小，缩短寻找目标输出电压对应的位置的时间。无人机从当前所处位置处开始按照从内向外的预设螺旋形轨迹进行飞行，找到目标输出电压对应的位置之后，便停止寻找。
可选地，在本实施例中，无人机在飞行过程中，可以是连续采集输出电压，也可以是间隔预设时长采集输出电压。
参见图3、图4，无人机在距离无线充电平台10cm处悬浮，原边发射线圈采用平面型方形线圈，副边接收线圈采用螺线管型线圈且平行于y方向；无人机从起始位置开始扫描整个无线充电平台上方，输出电压与偏移距离的关系参见图3，原边发射线圈和副边接收线圈之间的互感与偏移距离的关系参见图4；从图3和图4中可以看出，x方向偏移距离越大，互感越小，输出电压越小；y方向偏移时，由于副边接收线圈是螺线管型线圈，所以当原边发射线圈与副边 接收线圈重合时，两线圈互感最大，输出电压最大。
S3：控制所述无人机在所述目标输出电压对应的位置处降落到所述无线充电平台上。
在所述步骤S3控制所述无人机在所述目标输出电压对应的位置处降落到所述无线充电平台上之后还包括：
S4：控制所述无人机从所述降落位置寻找模式调回无线充电模式进行无线充电，所述无线充电模式包括调整无人机的充电功率至第二预设功率阈值；所述第二预设功率阈值为无人机降落在无线充电平台上进行正常无线充电时的充电功率。
通过本实施例的实施，提高了无人机的位置降落精度，可极大程度地改善无人机降落时出现位置偏移情况，有效提高无线充电平台对无人机的无线充电效率，减少能量损耗，缩短充电时长。
实施例2：
本实施例提出一种基于无线充电耦合机构的无人机降落精度调整系统，包括无线充电平台、无人机、无线充电耦合机构；所述无线充电耦合机构包括设置在所述无线充电平台内部的原边电路结构以及设置在所述无人机内部的副边电路结构，所述原边电路结构包括原边发射线圈，所述副边电路结构包括副边接收线圈。
参见图1，原边发射线圈与副边接收线圈相互耦合时，原边发射线圈向副边接收线圈无线传递电能，实现无线充电平台为无人机进行无线充电。原边电路结构包括顺序连接的电源(图1中的U dc)、全桥逆变器(图1中的Q 1、Q 2、Q 3、Q 4)、一组原边谐振补偿网络(图1中的L 1p、C 1p、C 2p)、以及原边发射线圈(图1中的L 1)。副边电路结构包括顺序连接的副边接收线圈(图1中的L 2)、 副边谐振补偿网络(图1中的C 1S)、整流滤波电路(图1中的四个二极管和二极管右边的一个电容)以及负载(图1中的R L)。可选地，在本实施例中，原边发射线圈为平面型方形线圈，副边接收线圈位螺线管型线圈。
所述无线充电平台包括与无人机进行通信的第一通信模块、充电控制模块，所述无人机包括与无线充电平台进行通信的并且与第一通信模块相匹配的第二通信模块、测距模块、无人机控制模块；
所述第一通信模块、充电控制模块、原边电路结构依次连接；所述第一通信模块与第二通信模块连接；所述第二通信模块、测距模块、副边电路结构分别与无人机控制模块连接；
所述无人机控制模块用于控制无人机的飞行状态，并在无人机飞回到无线充电平台处时通过无人机的第二通信模块、无线充电平台的第一通信模块将控制信号传输至充电控制模块；
所述充电控制模块用于根据接收到的控制信号控制原边发射线圈通电；
所述测距模块用于测量无人机与无线充电平台的距离并将测量数据传输至无人机控制模块；其中测距模块包括超声波测距模块或激光测距模块中的一种。
所述无人机控制模块还用于控制副边电路结构调小所述无人机的充电功率至第一预设功率阈值，根据测距模块的测量结果判断所述无人机距离所述无线充电平台的高度是否等于预设高度阈值，若是不等于预设高度阈值，则调整无人机距离所述无线充电平台的高度直至二者距离等于预设高度阈值，以及控制所述无人机按照预设轨迹策略在所述无线充电平台上方的同一预设高度进行飞行，并获取飞行过程中所述副边电路结构的输出电压和确定目标输出电压、控制所述无人机在所述目标输出电压对应的位置处降落到所述无线充电平台上。
所述无人机控制模块还用于在控制所述无人机降落至所述无线充电平台的 对应位置处后调整无人机的充电功率至第二预设功率阈值。
无人机通过GPS及RTK技术确定降落位置，仍会存在一定的误差，为了减小降落位置误差，本实施例通过调小无人机的充电功率，并在此充电功率下检测无人机在无线充电平台上方同一预设高度的不同位置时的无线充电耦合机构的输出电压，将输出电压最大值对应的位置处作为无人机降落的地方，通过这种方式进行无人机的辅助定位，提高无人机的降落精度。
本系统的工作原理为：
无人机控制模块通过GPS及RTK技术控制无人机飞回到无线充电平台处，无人机的测距模块检测无人机距离无线充电平台的高度是否等于预设高度阈值；则无人机控制模块根据测距模块的测距数据判断无人机距离无线充电平台的高度是否等于预设高度阈值。若是不等于预设高度阈值，无人机控制模块调整无人机距离所述无线充电平台的高度直至二者距离等于预设高度阈值。预设高度阈值可以根据实际需求进行设置，例如可以为10cm、9cm、8cm等。
然后无人机控制模块通过第二通信模块、第一通信模块向无线充电平台发送通电信号，无线充电平台的充电控制模块通过第一通信模块接收到无人机控制模块发来的通电信号之后控制原边电路结构通电，实现原边发射线圈可以工作。
无人机控制模块控制无人机进入降落位置寻找模式，即无人机控制模块调小无人机的充电功率至第一预设功率阈值。无人机处于无线充电模式时，充电功率为第二预设功率阈值，也即第二预设功率阈值是无人机降落在无线充电平台上进行正常无线充电时的充电功率。而第一预设功率阈值的取值范围包括第二预设功率阈值的20％至30％。无人机的充电功率为第一预设功率阈值时，无人机不能进行正常高效的无线充电。
无人机控制模块控制无人机按照预设轨迹策略在无线充电平台上方的同一预设高度进行飞行，并获取飞行过程中副边电路结构的输出电压，确定出目标输出电压，目标输出电压为等于预设最大输出电压值时的输出电压；副边电路结构的输出电压为图1中的负载R L的电压U L。在本实施例中，预设高度等于预设高度阈值，例如预设高度阈值为10cm时，预设高度也为10cm。
无人机控制模块内预先存储预设最大输出电压值，无人机控制模块控制无人机按照预设轨迹策略在无线充电平台上方的同一预设高度进行飞行的过程中，不断地将不同位置采集到的副边电路结构的输出电压与预设最大输出电压值进行比较，直至找到目标输出电压对应的位置。
可选地，在一种实施方式中，无人机控制模块控制无人机按照预设轨迹策略在无线充电平台上方的同一预设高度进行飞行包括：无人机在无线充电平台上方的同一预设高度沿着预设遍历轨迹进行飞行，直至找到目标输出电压对应的位置。无人机控制模块通过GPS及RTK技术控制无人机飞回到无线充电平台处，此时定位误差已经被控制在厘米级，在此基础上，预设遍历轨迹的范围也可以设置得较小，缩短寻找目标输出电压对应的位置的时间。预设遍历轨迹可以是沿“Z”字形路线不断的往返，可以是正“Z”字形，也可以是旋转90度的“Z”字形，也可以是从内向外的螺旋形轨迹。无人机在无线充电平台上方的同一预设高度沿着预设遍历轨迹进行飞行，找到目标输出电压对应的位置之后，便停止寻找。
可选地，在本实施例中，无人机在飞行过程中，无人机控制模块可以是连续采集输出电压，也可以是间隔预设时长采集输出电压。
参见图3、图4，无人机在距离无线充电平台10cm处悬浮，原边发射线圈采用平面型方形线圈，副边接收线圈采用螺线管型线圈且平行于y方向；无人 机从起始位置开始扫描整个无线充电平台上方，输出电压与偏移距离的关系参见图3，原边发射线圈和副边接收线圈之间的互感与偏移距离的关系参见图4；从图3和图4中可以看出，x方向偏移距离越大，互感越小，输出电压越小；y方向偏移时，由于副边接收线圈是螺线管型线圈，所以当原边发射线圈与副边接收线圈重合时，两线圈互感最大，输出电压最大。
无人机控制模块控制无人机在目标输出电压对应的位置处降落到无线充电平台。
可选地，在本实施例中，在无人机在目标输出电压对应的位置处降落到无线充电平台之后，还包括：无人机控制模块控制无人机从降落位置寻找模式调回无线充电模式进行无线充电，无线充电模式包括调整无人机的充电功率至第二预设功率阈值。
通过本实施例的实施，提高了无人机的位置降落精度，可极大程度地改善无人机降落时出现位置偏移情况，有效提高无线充电平台对无人机的无线充电效率，减少能量损耗，缩短充电时长。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本申请所提供的实施例中，应该理解到，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元可结合为一个单元，一个单元可拆分为多个单元，或一些特征可以忽略等。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围，其均应涵盖在本发明的权利要求和说明书的范围当中。

Claims (10)

  1. 基于无线充电耦合机构的无人机降落精度调整方法，其特征在于：所述无线充电耦合机构包括设置在无线充电平台内部的原边电路结构以及设置在无人机内部的副边电路结构，所述原边电路结构包括原边发射线圈，所述副边电路结构包括副边接收线圈；
    所述无人机降落精度调整方法包括：
    S1：所述无人机飞回到所述无线充电平台处时，控制所述原边发射线圈通电，并控制所述无人机进入降落位置寻找模式，所述降落位置寻找模式包括调小所述无人机的充电功率至第一预设功率阈值；
    S2：控制所述无人机按照预设轨迹策略在所述无线充电平台上方的同一预设高度进行飞行，并获取飞行过程中所述副边电路结构的输出电压，确定目标输出电压，所述目标输出电压等于预设最大输出电压值时的所述输出电压；
    S3：控制所述无人机在所述目标输出电压对应的位置处降落到所述无线充电平台上。
  2. 根据权利要求1所述的基于无线充电耦合机构的无人机降落精度调整方法，其特征在于：在步骤S1控制所述原边发射线圈通电，并控制所述无人机进入降落位置寻找模式之前，还包括：检测所述无人机距离所述无线充电平台的高度是否等于预设高度阈值；
    若是，则控制所述原边发射线圈通电，并控制所述无人机进入降落位置寻找模式，否则，控制所述无人机降落至距离所述无线充电平台等于预设高度阈值处。
  3. 根据权利要求1所述的基于无线充电耦合机构的无人机降落精度调整方法，其特征在于：所述步骤S2中控制所述无人机按照预设轨迹策略在所述无线充电平台上方的同一预设高度进行飞行包括：控制所述无人机在所述无线充电平台上方的同一预设高度沿着预设遍历轨迹进行飞行，直至找到所述目标输出 电压对应的位置。
  4. 根据权利要求3所述的基于无线充电耦合机构的无人机降落精度调整方法，其特征在于：所述预设遍历轨迹包括正“Z”字形轨迹、旋转90度的“Z”字形轨迹或者从内向外的螺旋形轨迹。
  5. 根据权利要求1所述的基于无线充电耦合机构的无人机降落精度调整方法，其特征在于：所述步骤S3控制所述无人机在所述目标输出电压对应的位置处降落到所述无线充电平台上之后还包括：
    S4：控制所述无人机从所述降落位置寻找模式调回无线充电模式进行无线充电，所述无线充电模式包括调整无人机的充电功率至第二预设功率阈值；所述第二预设功率阈值为无人机降落在无线充电平台上进行正常无线充电时的充电功率。
  6. 根据权利要求5所述的基于无线充电耦合机构的无人机降落精度调整方法，其特征在于：所述第一预设功率阈值的取值范围为所述第二预设功率阈值的20％至30％。
  7. 基于无线充电耦合机构的无人机降落精度调整系统，其特征在于：包括无线充电平台、无人机、无线充电耦合机构；所述无线充电耦合机构包括设置在所述无线充电平台内部的原边电路结构以及设置在所述无人机内部的副边电路结构，所述原边电路结构包括原边发射线圈，所述副边电路结构包括副边接收线圈；
    所述无线充电平台包括与无人机进行通信的第一通信模块、充电控制模块，所述无人机包括与无线充电平台进行通信的并且与第一通信模块相匹配的第二通信模块、测距模块、无人机控制模块；
    所述第一通信模块、充电控制模块、原边电路结构依次连接；所述第一通信模 块与第二通信模块连接；所述第二通信模块、测距模块、副边电路结构分别与无人机控制模块连接；
    所述无人机控制模块用于控制无人机的飞行状态，并在无人机飞回到无线充电平台处时通过无人机的第二通信模块、无线充电平台的第一通信模块将控制信号传输至充电控制模块；
    所述充电控制模块用于根据接收到的控制信号控制原边发射线圈通电；
    所述测距模块用于测量无人机与无线充电平台的距离并将测量数据传输至无人机控制模块；
    所述无人机控制模块还用于控制副边电路结构调小所述无人机的充电功率至第一预设功率阈值，根据测距模块的测量结果判断所述无人机距离所述无线充电平台的高度是否等于预设高度阈值，若是不等于预设高度阈值，则调整无人机距离所述无线充电平台的高度直至二者距离等于预设高度阈值，以及控制所述无人机按照预设轨迹策略在所述无线充电平台上方的同一预设高度进行飞行，并获取飞行过程中所述副边电路结构的输出电压和确定目标输出电压、控制所述无人机在所述目标输出电压对应的位置处降落到所述无线充电平台上。
  8. 根据权利要求7所述的基于无线充电耦合机构的无人机降落精度调整系统，其特征在于：所述原边发射线圈为平面型方形线圈，所述副边接收线圈位螺线管型线圈。
  9. 根据权利要求7所述的基于无线充电耦合机构的无人机降落精度调整系统，其特征在于：所述无人机控制模块还用于在控制所述无人机降落至所述无线充电平台的对应位置处后调整无人机的充电功率至第二预设功率阈值。
  10. 根据权利要求7所述的基于无线充电耦合机构的无人机降落精度调整系统，其特征在于：所述测距模块包括超声波测距模块或激光测距模块中的一种。
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