CN112140914B

CN112140914B - Unmanned aerial vehicle power supply system

Info

Publication number: CN112140914B
Application number: CN202010949051.4A
Authority: CN
Inventors: ***; 王长富; 鲁长波; 徐万里; 刘盼盼; 周友杰; 安高军; 陈今茂; 王耀辉; 徐曦萌; 孙彦丽; 郑哲
Original assignee: Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences
Current assignee: Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2022-06-24
Anticipated expiration: 2040-09-10
Also published as: CN112140914A

Abstract

The embodiment of the specification discloses an unmanned aerial vehicle power supply system. The system comprises: ground power supply unit, wireless charging device, unmanned aerial vehicle, platform and thermostated container are always controlled on ground, wherein: the ground power supply device is used for converting wind energy and solar energy into electric energy, storing the electric energy into the energy storage battery and supplying power to the wireless charging device through the energy storage battery; the wireless charging device is used for charging the unmanned aerial vehicle parked on the charging position through the transmitting circuit; the unmanned aerial vehicle is used for receiving a charging instruction sent by the ground master control platform and going to a charging position on a specified wireless charging device for charging according to the charging instruction; the ground general control platform is used for acquiring state information of the ground power supply device, the wireless charging device and the unmanned aerial vehicle and sending the charging instruction to the unmanned aerial vehicle according to the state information; the constant temperature box is used for maintaining the battery temperature of the unmanned aerial vehicle within a preset temperature range according to the battery temperature of the unmanned aerial vehicle which is being charged.

Description

Unmanned aerial vehicle power supply system

Technical Field

The specification relates to the technical field of unmanned aerial vehicles, particularly, relates to an unmanned aerial vehicle power supply system.

Background

Because the unmanned aerial vehicle can reach the place that the personnel of patrolling and examining can't or inconveniently arrive, the work of originally consuming time and wasting force is accomplished to safe efficient, releases the personnel of patrolling and examining from high risk environment, high strength manual labor, therefore unmanned aerial vehicle is used for accomplishing some reconnaissance gradually, patrols and examines etc. and predetermine the task.

However, some unmanned aerial vehicles are applied to remote frontier defense areas, and the areas have inconvenient traffic, rare smoke and severe environment. Because the people in frontier defense area are rare, and geographical relief is dangerous, the staff is difficult to change the battery for unmanned aerial vehicle, can realize unmanned aerial vehicle's autonomic charging through unmanned aerial vehicle power supply system for this reason. However, in these areas, traffic is inconvenient, the terrain is complex, the power energy of the power grid is difficult to reach or the voltage of the power grid which is reached is unstable, and the stability of the power energy of the power supply system is difficult to ensure, so that the timely supply of the power of the unmanned aerial vehicle is difficult to ensure, and the inspection efficiency of the unmanned aerial vehicle is reduced. Therefore, electric energy needs to be acquired through local resources, but the frontier defense area is in shortage of resources, and how to realize the self-sufficiency of energy of the frontier defense power supply system through limited resources and ensure the electric power supply of the unmanned aerial vehicle is also a big problem to be solved. In addition, in the border defense area with severe environment, the operation and maintenance of the power supply system can be greatly influenced by the environment, so that the charging efficiency of the unmanned aerial vehicle is reduced again and again, and another difficult problem needs to be solved if the safe and stable operation of the power supply system is ensured.

Disclosure of Invention

The embodiment of the specification provides an unmanned aerial vehicle power supply system for overcome at least one technical problem that exists among the prior art.

According to a first aspect of this specification embodiment, there is provided an unmanned aerial vehicle power supply system, including: ground power supply unit, wireless charging device, unmanned aerial vehicle, platform and thermostated container are always controlled on ground, wherein:

the ground power supply device is used for converting wind energy and solar energy into electric energy, storing the electric energy into an energy storage battery, supplying power to the wireless charging device through the energy storage battery, receiving a switching instruction sent by the ground master control platform, and switching the energy storage battery to an emergency standby power supply to supply power to the wireless charging device according to the switching instruction;

the wireless charging device is used for charging the unmanned aerial vehicle parked on a charging potential through the transmitting circuit and adjusting the transmitting circuit according to the current and the voltage of the receiving circuit of the wireless energy transmission receiving end of the unmanned aerial vehicle; the charging potential array is arranged on a platform of the wireless charging device, and the transmitting circuit and the receiving circuit are respectively a transmitting end and a receiving end of the magnetic resonance wireless charging circuit; the transmitting circuit comprises a transmitting circuit power supply, an internal resistance of a transmitting side additional resonant inductor, an adjustable impedance matching circuit, a change-over switch and a plurality of transmitting coils, wherein: the transmitting circuit power supply is connected with the internal resistance of the additional resonant inductor and the transmitting side additional resonant inductor in series and is connected with the input end of the adjustable impedance matching circuit in parallel; the change-over switch is connected with the transmitting coil in series and is connected with the output end of the adjustable impedance matching circuit in parallel; the adjustable impedance matching circuit comprises a capacitor, a resistor and a variable capacitor, wherein the resistor is connected with the variable capacitor in parallel, and the capacitor is respectively connected with the resistor and the variable capacitor in series; the transmitting side additional resonant inductor is connected in series with the capacitor; the change-over switch is connected with the transmitting coil in series and is connected with the variable capacitor in parallel;

the unmanned aerial vehicle is used for receiving a charging instruction sent by the ground master control platform, sending the charging instruction to a charging position on a specified wireless charging device for charging according to the charging instruction, sending the current and the voltage of the receiving circuit to the wireless charging device in the charging process, sending the battery temperature of the unmanned aerial vehicle battery to the thermostat, returning to the position before charging after charging is completed, and continuously executing a flight task;

the ground master control platform is used for acquiring state information of the ground power supply device, the wireless charging device and the unmanned aerial vehicle, sending the charging instruction to the unmanned aerial vehicle according to the state information and sending the switching instruction to the ground power supply device;

the constant temperature box is used for maintaining the battery temperature of the unmanned aerial vehicle within a safe range according to the battery temperature of the unmanned aerial vehicle which is being charged.

Optionally, the ground power supply device comprises: power generation facility, energy memory, emergent stand-by power supply, first measuring device and first communication device, wherein:

the power generation device is used for converting solar energy and wind energy into electric energy through a solar panel and a wind driven generator, storing the electric energy generated by the solar panel into the energy storage device through a solar controller, and storing the electric energy generated by the wind driven generator into the energy storage device through a first rectifying circuit;

the energy storage device is used for storing the electric energy generated by the power generation device into the energy storage battery, acquiring the electric quantity information of the energy storage battery through a battery management system, converting the electric energy in the energy storage battery into usable electric energy through a first DC-DC converter and charging the wireless charging device;

the first measuring device is used for measuring environmental parameters around the power generation device and acquiring environmental information; wherein the environmental information comprises wind speed, light radiation intensity, ambient temperature and ambient humidity;

the emergency standby power supply is used for receiving the switching instruction forwarded by the first communication device and supplying power to the wireless charging device according to the switching instruction;

the first communication device is used for sending the state information of the ground power supply device to the ground master control platform, receiving the switching instruction sent by the ground master control platform and sending the switching instruction to the emergency standby power supply; the state information of the ground power supply device comprises the environment information, the electric quantity information and emergency standby power supply state information, and the emergency standby power supply state information comprises a working state, a total battery pack and an available battery pack.

Optionally, the emergency backup power supply comprises: electrolyte tank, pipeline, solenoid valve and metal-air battery monomer, wherein:

each metal-air battery monomer is correspondingly connected to the electrolyte tank through one pipeline, each pipeline is provided with one electromagnetic valve, and the electromagnetic valves are in signal connection with the first communication device; wherein, the electromagnetic valve is a normally closed valve.

Optionally, the wireless charging device includes: gravity sensor, high frequency inverter, transmitting circuit, second measuring device, second communication device and transmitting terminal control circuit, wherein:

the gravity sensor is used for sensing the landing of the unmanned aerial vehicle so as to acquire the landing position of the unmanned aerial vehicle on the wireless charging device, sending a starting signal to a transmitting circuit of a corresponding charging position according to the landing position, and acquiring the quantity information of the used charging positions and the serial number information of the used charging positions;

the high-frequency inverter is used as the power supply of the transmitting circuit;

the transmitting circuit is used for receiving a starting signal sent by the gravity sensor so as to transmit electric energy to a receiving circuit of the unmanned aerial vehicle parked on a corresponding charging position; one charging potential is correspondingly configured with one transmitting circuit;

the second measuring device is used for respectively acquiring the voltage and the current of the transmitting circuit corresponding to the used charging position through the voltage sensor and the current sensor, and is used for acquiring the power of the transmitting circuit corresponding to the used charging position through the power sensor;

the second communication device is used for sending the state information of the wireless charging device to the ground general control platform and receiving the charging information sent by the unmanned aerial vehicle; the state information of the wireless charging device comprises the first position information and the charging position information, the first position information represents the geographic position of the wireless charging device, the charging position information comprises the number information of used charging positions, the number information of the used charging positions and the power supply information of the used charging positions, and the power supply information of the used charging positions comprises the voltage, the current and the power of a transmitting circuit corresponding to the used charging positions;

the transmitting end control circuit is used for selecting an optimal transmitting coil according to the position relation between the unmanned aerial vehicle and the transmitting coil and switching the selector switch to the optimal transmitting coil; acquiring transmission power according to the current and the voltage of the receiving circuit and the current and the voltage of the transmitting circuit; and adjusting the capacitance value of a variable capacitor of the adjustable impedance matching circuit according to the transmission power, and stopping adjustment when the transmission power reaches the maximum value.

Optionally, the wireless energy transmission receiving end is arranged on the unmanned aerial vehicle body, and the wireless energy transmission receiving end includes a receiving circuit, a second rectifying circuit, a second DC-DC converter and a third measuring device, wherein:

the receiving circuit is used for receiving the electric energy transmitted by the transmitting circuit; wherein the receiving circuit comprises a receiving coil;

the second rectifying circuit is used for transmitting the electric energy received by the receiving circuit to the second DC-DC converter;

the second DC-DC converter is used for converting the electric energy transmitted by the second rectifying circuit into usable electric energy and charging the battery of the unmanned aerial vehicle;

the third measuring device is used for acquiring the charging information of the unmanned aerial vehicle and sending the charging information to the first communication module of the unmanned aerial vehicle; wherein, charging information includes voltage, electric current and the power of the receiving circuit that unmanned aerial vehicle corresponds.

Optionally, the wireless energy transmission receiving end adopts a forming design.

Optionally, the drone comprises: location module, battery module, fixed point fall module, first communication module and memory module, wherein:

the positioning module is configured to acquire second position information of the unmanned aerial vehicle; wherein the second location information characterizes a geographic location of the drone;

the battery module is configured to acquire battery information of the unmanned aerial vehicle; wherein the battery information includes a battery capacity, a remaining capacity, a battery temperature, a battery state of health, a power usage, and a voltage of the unmanned aerial vehicle battery;

the fixed-point landing module is configured to enable the unmanned aerial vehicle to land on a charging position of a corresponding wireless charging device according to the charging instruction;

the first communication module is configured to send the state information of the unmanned aerial vehicle to the ground master control platform, receive the charging instruction sent by the ground master control platform, send the charging information to the second communication device when the unmanned aerial vehicle is charged, and send the battery temperature of the unmanned aerial vehicle to the incubator; the state information of the unmanned aerial vehicle comprises the battery information and the second position information;

the memory module is configured to record position coordinates of the unmanned aerial vehicle before landing and charging, and when the unmanned aerial vehicle is fully charged, the position of the unmanned aerial vehicle before landing and charging is returned according to the position coordinates.

Optionally, the ground general control platform includes: second communication module, first control module, second control module and display module, wherein:

the second communication module is configured to receive the state information of the ground power supply device, the state information of the wireless charging device and the state information of the unmanned aerial vehicle, which are respectively sent by the first communication device, the second communication device and the first communication module, send the charging instruction to the unmanned aerial vehicle and send the switching instruction to the ground power supply device;

the first control module is configured to judge whether the unmanned aerial vehicle needs to be charged according to the unmanned aerial vehicle remaining capacity of the battery information, if the unmanned aerial vehicle needs to be charged, confirm a wireless charging device for the unmanned aerial vehicle to charge according to the first position information and the second position information, confirm a charging position where the unmanned aerial vehicle stops according to charging position information corresponding to the wireless charging device, and generate the charging instruction according to the first position information of the wireless charging device and the number information of the corresponding charging position;

the second control module is configured to send the switching instruction to the first communication device according to the electric quantity information of the energy storage battery and the emergency standby power supply state information;

the display module is configured to display the state information of the ground power supply device, the wireless charging device and the unmanned aerial vehicle through an upper computer interaction interface, and display the charging information of the unmanned aerial vehicle during charging.

Optionally, the first control module comprises:

an acquisition unit configured to acquire a battery capacity, a remaining capacity, a power consumption, a voltage, a flight speed, second position information, and first position information of the wireless charging device of the unmanned aerial vehicle, and acquire a distance between the unmanned aerial vehicle and a nearest wireless charging device according to the first position information and the second position information;

the calculation unit is configured to acquire the current energy of the unmanned aerial vehicle according to a preset energy calculation formula, acquire the minimum energy required by the unmanned aerial vehicle to fly to the nearest wireless charging device according to a preset minimum energy calculation formula, thereby acquiring a difference value between the current energy of the unmanned aerial vehicle and the minimum energy required by the unmanned aerial vehicle to fly to the nearest wireless charging device, and acquire redundant flight time of the unmanned aerial vehicle according to a preset flight time formula; wherein, the first and the second end of the pipe are connected with each other,

the energy calculation formula is

c_e＝c×s×u

The minimum energy calculation formula is

The formula of the flight time is

Wherein, c_eFor unmanned aerial vehicle current energy, c is unmanned aerial vehicle's battery capacity, s is unmanned aerial vehicle's remaining capacity percentage, u is unmanned aerial vehicle voltage, c_minFor unmanned aerial vehicle fly to the required minimum energy of nearest wireless charging device, d be unmanned aerial vehicle and nearest wireless charging device's distance, v be unmanned aerial vehicle's flying speed, p be unmanned aerial vehicle's power consumption, delta be unmanned aerial vehicle's current energy and unmanned aerial vehicle fly to the required minimum energy of nearest wireless charging device difference, delta ═ c_e-c_minT is the redundancy of the unmanned planeA line time;

the priority ranking unit is configured to compare the redundant flight time of the unmanned aerial vehicle with the redundant flight time of the unmanned aerial vehicle flying to the same wireless charging device if the redundant flight time is within a preset time range, and rank the priorities of all unmanned aerial vehicles flying to the same wireless charging device according to the redundant flight time; wherein the smaller the redundant flight time, the higher the drone priority.

Optionally, wireless charging device sets up inside the thermostated container, the thermostated container includes fan, first relay, second relay, comparison circuit and third communication device, the fan is arranged and is arranged around the position of charging, every the mouth of blowing of fan is facing to a charging potential, and the position of charging of the straight intersection point department of the mouth of blowing extension of the fan that the fan of arranging transversely and arranging indulging is corresponding for the charging potential that two fans are responsible for, and every charging position corresponds a comparison circuit, a first relay, a second relay and two fans, wherein:

the third communication device is used for receiving the serial number information of the used charging position sent by the second communication device, receiving the battery temperature of the unmanned aerial vehicle on the used charging position sent by the first communication module, and confirming the specific position of the used charging position according to the serial number information of the used charging position, so that the battery temperature of the unmanned aerial vehicle on the corresponding used charging position is sent to the corresponding comparison circuit;

the comparison circuit is used for comparing the battery temperature of the unmanned aerial vehicle on the corresponding used charging potential with a preset temperature range, if the battery temperature of the unmanned aerial vehicle on the used charging potential is lower than the lowest temperature of the preset temperature range, sending a high level signal to the corresponding first relay and the corresponding second relay, if the battery temperature of the unmanned aerial vehicle on the used charging potential is higher than the highest temperature of the preset temperature range, sending a high level signal to the corresponding second relay and sending a low level signal to the corresponding first relay, and if the battery temperature of the unmanned aerial vehicle on the used charging potential is within the preset temperature range, sending a low level signal to the corresponding first relay and the corresponding second relay;

the first relay is used for receiving the high-level signal sent by the corresponding comparison circuit and starting the resistance wire heating device of the corresponding fan, or receiving the low-level signal sent by the corresponding comparison circuit and closing the resistance wire heating device of the corresponding fan;

the second relay is used for receiving the high level signal sent by the corresponding comparison circuit and starting the blowing device of the corresponding fan, or receiving the low level signal sent by the corresponding comparison circuit and closing the blowing device of the corresponding fan;

and the fan is used for blowing air to the corresponding used charging position of the unmanned aerial vehicle.

The beneficial effects of the embodiment of the specification are as follows:

the unmanned aerial vehicle power supply system that this specification embodiment provided, through power generation facility with wind energy and solar energy conversion electric energy and storage to energy memory, by energy memory to wireless charging device power supply. Unmanned aerial vehicle sends unmanned aerial vehicle's electric quantity information and second positional information to the platform is always controlled on ground in real time, the platform is always controlled on ground is according to unmanned aerial vehicle's residual capacity, unmanned aerial vehicle and wireless charging device's distance, unmanned aerial vehicle's power consumption information such as, judge whether unmanned aerial vehicle need charge to and unmanned aerial vehicle goes to which wireless charging device to charge, and with this generation charge instruction, send the first communication module for unmanned aerial vehicle by second communication module. Unmanned aerial vehicle receives the instruction of charging after, and automatic going to appointed wireless charging device and charging, after charging, unmanned aerial vehicle returns the position before charging automatically, continues along planning route tracking, really realizes unmanned system, has solved among the prior art that unmanned aerial vehicle adopts wired charging or artifical the participation to change the battery, leads to the problem of unmanned aerial vehicle can't independently carry out long distance predetermineeing the task of patrolling and examining in the air.

The innovation points of the embodiment of the specification comprise:

1. according to the invention, wind energy and solar energy are converted into electric energy through the power generation device and stored in the energy storage device, and the wireless charging device is supplied with power by the energy storage device. Unmanned aerial vehicle sends unmanned aerial vehicle's electric quantity information and second positional information to the platform is always controlled on ground in real time, the platform is always controlled on ground is according to unmanned aerial vehicle's residual capacity, unmanned aerial vehicle and wireless charging device's distance, unmanned aerial vehicle's power consumption information such as, judge whether unmanned aerial vehicle need charge to and unmanned aerial vehicle goes to which wireless charging device to charge, and with this generation charge instruction, send the first communication module for unmanned aerial vehicle by second communication module. Unmanned aerial vehicle receives the instruction of charging after, and automatic going to appointed wireless charging device charges, and after the end of charging, unmanned aerial vehicle returns the position before charging automatically, continues along planning route tracking, really realizes unmanned system, is one of the innovation point of this specification embodiment.

2. When the residual electric quantity of the current energy storage battery is insufficient and the current wind-solar power generation efficiency is not high, the ground master control platform sends a switching instruction to the first communication device of the ground power supply device, the first communication device is in signal connection with the electromagnetic valve of the emergency standby power supply, the first communication device sends a high level signal to the electromagnetic valve after receiving the switching instruction, so that the electromagnetic valve is switched from a normally closed state to a normally open state, the electrolyte in the electrolyte tank flows into the metal air battery monomer along the pipeline, the metal air battery monomer starts to discharge, the full-automatic operation process of switching the power supply of the energy storage battery to the wireless charging device to the power supply of the emergency standby power supply to the wireless charging device is realized, the manual participation degree and the dependence degree on a power grid are reduced, a more comprehensive unattended power supply system is realized, and the unmanned aerial vehicle power supply system is suitable for any place, including the environment abominable, the electric wire netting is difficult to guarantee the area of in time supplying power, and the transformation has improved unmanned aerial vehicle power supply system's reliable degree, is one of the innovation point of this description embodiment.

3. The unmanned aerial vehicle autonomous high-efficiency charging system adopts a magnetic resonance type wireless charging mode to realize autonomous high-efficiency charging of the unmanned aerial vehicle, the wireless charging mode based on the magnetic resonance has the advantages of long transmission distance and high transmission power, but the charging mode can be influenced by the distance between the transmitting end and the receiving end and the frequency of the transmitting end and the receiving end. The invention modifies the transmitting circuit, adds an adjustable impedance matching circuit and a plurality of switchable transmitting coils in the transmitting circuit, and respectively obtains the voltage and the current of the transmitting circuit and the voltage and the current of the receiving circuit through a second measuring device and a third measuring device. Selecting an optimal transmitting coil according to the position relation between the unmanned aerial vehicle and the transmitting coil, and switching the selector switch to the optimal transmitting coil; according to the transmission power, the capacitance value of the variable capacitor of the adjustable impedance matching circuit is adjusted until the transmission power reaches the maximum value, the loop impedance of the transmitting circuit is minimum, the electric energy transmission efficiency is high, the charging efficiency is improved, the charging time is saved, the problem that the wireless charging efficiency is attenuated along with the change of the distance is effectively solved, and the distance robustness is improved.

4. According to the invention, the charging positions of the wireless charging devices are designed in an array manner, so that a plurality of unmanned aerial vehicles can be parked at the same time, and power is supplied to the plurality of unmanned aerial vehicles, so that the number of the wireless charging devices is smaller than that of the unmanned aerial vehicles, and the utilization rate of the wireless charging devices is effectively improved. However, in the actual use process, the number of the unmanned aerial vehicles to be charged may be larger than the number of the available charging potentials of the wireless charging device, so that the first control module of the ground master control platform provided by the invention is provided with a program for managing the charging sequence of the unmanned aerial vehicles, and is used for judging the charging priority of the unmanned aerial vehicles. Calculate unmanned aerial vehicle's redundant flight time through the computational element, sort the priority of flying to same wireless charging device's unmanned aerial vehicle, redundant flight time is less, and it is not many to represent the available electric quantity of unmanned aerial vehicle, and the priority is higher, and unmanned aerial vehicle can be given priority to go to corresponding wireless charging device and charge. Through managing the charging sequence to unmanned aerial vehicle, realize the rational utilization to limited electric energy resource, avoid unmanned aerial vehicle to appear using the conflict on charging resource, the phase change has improved unmanned aerial vehicle power supply system's power supply stability, is one of the innovation point of this description embodiment.

5. Among the hardware required by the power supply system of the unmanned aerial vehicle provided by the invention, the battery of the unmanned aerial vehicle is most sensitive to the temperature. The temperature is too low, and the battery may not be charged; if the temperature is too high, thermal runaway such as ignition and explosion of the battery may occur. The unmanned aerial vehicle power supply system provided by the invention is mainly applied to frontier defense areas with severe environments, and the environments can be extremely cold or hot. Therefore, the unmanned aerial vehicle battery charging system is provided with the constant temperature box, the wireless charging device is arranged in the constant temperature box, the constant temperature box can shield wind and rain for the wireless charging device and can also heat or cool the ambient temperature of the unmanned aerial vehicle battery on the wireless charging device, so that the unmanned aerial vehicle battery is always in a temperature range suitable for charging, and the battery temperature of the unmanned aerial vehicle is in a safety range. The fan of thermostated container is arranged and is set up around the position of charging, and the mouth of blowing of fan is facing to a position of charging, and the position of charging of the straight intersection department of the mouth extension of blowing of the fan of arranging the fan and indulging row and arranging corresponds the position of charging that is responsible for two fans, through putting the fan, realizes accurate heating or cooling to unmanned aerial vehicle, and is efficient, has solved the problem that thermostated container heats cooling efficiency low to whole confined space among the prior art, is one of the innovation point of this specification embodiment.

Drawings

In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present specification, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic device diagram illustrating a power supply system for a drone according to an embodiment of the present description;

fig. 2 is an apparatus schematic diagram illustrating another drone powering system provided in accordance with an embodiment of the present description;

fig. 3 is a schematic diagram illustrating a structure of an emergency backup power supply provided according to an embodiment of the present specification;

fig. 4 is an equivalent circuit diagram illustrating magnetic resonance wireless charging provided in accordance with an embodiment of the present description;

fig. 5 is a schematic diagram showing the structures of a transmitting circuit and a receiving circuit provided according to an embodiment of the present specification;

FIG. 6 is a schematic diagram showing an arrangement of fans inside an incubator provided in accordance with an embodiment of the present specification;

in the figure, 100 is a ground power supply device, 200 is a wireless charging device, 300 is an unmanned aerial vehicle, 400 is a ground general control platform, 500 is a thermostat, 110 is a power generation device, 120 is a first measurement device, 130 is a first communication device, 140 is an energy storage device, 150 is an emergency standby power supply, 210 is a second measurement device, 220 is a second communication device, 230 is a high-frequency inverter, 240 is a transmission circuit, 250 is a transmission end control circuit, 260 is a gravity sensor, 310 is a wireless energy transmission receiving end, 320 is an unmanned aerial vehicle battery, 330 is a memory module, 340 is a positioning module, 350 is a battery module, 360 is a fixed-point landing module, 370 is a first communication module, 410 is a second communication module, 420 is a first control module, 430 is a second control module, 440 is a display module, 510 is a third communication device, 520 is a comparison circuit, 530 is a first relay, 540 is a second relay, a third relay, a fourth control module, a fourth control, 550 is a fan, 111 is a solar panel, 112 is a wind driven generator, 113 is a solar controller, 114 is a first rectifying circuit, 141 is an energy storage battery, 142 is a first DC-DC converter, 143 is a battery management system, 311 is a receiving circuit, 312 is a second rectifying circuit, 313 is a second DC-DC converter, and 314 is a third measuring device.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any inventive step are within the scope of the present specification.

It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present specification and the drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiment of the specification discloses an unmanned aerial vehicle power supply system. The following are detailed descriptions.

Fig. 1 is a schematic device diagram illustrating a power supply system for an unmanned aerial vehicle according to an embodiment of the present disclosure. As shown in fig. 1, an unmanned aerial vehicle power supply system provided in an embodiment of this specification may include: ground power supply unit 100, wireless charging device 200, unmanned aerial vehicle 300, the total control platform 400 in ground and thermostated container 500, wherein:

the ground power supply device 100 is configured to convert wind energy and solar energy into electric energy, store the electric energy into an energy storage battery 141, supply power to the wireless charging device 200 through the energy storage battery 141, receive a switching instruction sent by the ground main control platform 400, and switch the energy storage battery 141 to an emergency standby power supply 150 to supply power to the wireless charging device 200 according to the switching instruction;

the wireless charging device 200 is configured to charge the unmanned aerial vehicle parked at a charging position through the transmitting circuit 240, and adjust the transmitting circuit 240 according to the current and the voltage of the receiving circuit 311 of the wireless energy transmission receiving terminal 310 of the unmanned aerial vehicle 300;

wherein the charging potential array is arranged on the platform of the wireless charging device 200, and the transmitting circuit 240 and the receiving circuit 311 are respectively a transmitting end and a receiving end of a magnetic resonance wireless charging circuit; the transmitting circuit 240 comprises a transmitting circuit power supply, an internal resistance of a transmitting side additional resonant inductor, an adjustable impedance matching circuit, a change-over switch and a plurality of transmitting coils; the transmitting circuit power supply is connected in series with the internal resistance of the additional resonant inductor and the additional resonant inductor at the transmitting side and is connected in parallel with the input end of the adjustable impedance matching circuit; the change-over switch is connected with the transmitting coil in series and is connected with the output end of the adjustable impedance matching circuit in parallel; the adjustable impedance matching circuit comprises a capacitor, a resistor and a variable capacitor, wherein the resistor is connected with the variable capacitor in parallel, and the capacitor is respectively connected with the resistor and the variable capacitor in series; the transmitting side additional resonant inductor is connected in series with the capacitor; the change-over switch is connected with the transmitting coil in series and is connected with the variable capacitor in parallel;

the unmanned aerial vehicle 300 is configured to receive a charging instruction sent by the ground master control platform 400, charge the wireless charging device 200 according to the charging instruction, send the current and the voltage of the receiving circuit 311 to the wireless charging device 200 in the charging process, and return to a position before charging after the charging is completed, so as to continue to execute a flight task;

the ground master control platform 400 is configured to obtain state information of the ground power supply device 100, the wireless charging device 200, and the unmanned aerial vehicle 300, send the charging instruction to the unmanned aerial vehicle 300 according to the state information, and send the switching instruction to the ground power supply device 100;

the thermostat 500 is configured to maintain the battery temperature of the drone 300 within a safe range according to the battery temperature of the drone 300 being charged.

Specifically, the working principle of the above embodiment is as follows: electric energy generated by solar energy and wind energy is converged into the wind-solar hybrid controller, the wind-solar hybrid controller stores the received electric energy into the energy storage battery 141, and the electric energy in the energy storage battery 141 passes through the first DC-DC converter 142 to become usable electric energy and is output to the wireless charging device 200. The ground power supply device 100 is additionally provided with the emergency standby power supply 150, the ground general control platform 400 receives the information of the residual electric quantity of the energy storage battery 141, compares the residual electric quantity of the energy storage battery 141 with a preset electric quantity threshold value, when the residual electric quantity is lower than the electric quantity threshold value, the ground general control platform 400 sends a switching signal to the ground power supply device 100, and the ground power supply device 100 switches the emergency standby power supply 150 to supply power to the wireless charging device 200 according to the switching signal. The wireless charging device 200 receives the electric energy transmitted by the ground power supply device 100, transmits the electric energy to the transmitting circuit 240 through the high-frequency inverter 230, and transmits the electric energy to the receiving circuit 311 of the unmanned aerial vehicle 300 on the corresponding power supply potential through the transmitting circuit 240. The transmitting circuit 240 and the receiving circuit 311 are respectively a transmitting end and a receiving end of the magnetic resonance type wireless charging circuit, and the working principle of the wireless charging circuit is that the transmitting coil and the receiving coil are adjusted to the same frequency to generate magnetic resonance, so that energy transmission is realized. The unmanned aerial vehicle 300 in the task of executing the flight sends the remaining capacity of the unmanned aerial vehicle battery 320 to the ground master control platform 400 at every moment, and the ground master control platform 400 monitors the state of the unmanned aerial vehicle 300. The ground total control platform 400 compares the residual capacity of the unmanned aerial vehicle battery 320 with a preset capacity threshold, when the residual capacity of the unmanned aerial vehicle battery 320 is lower than the capacity threshold, the ground total control platform sends a charging instruction to the unmanned aerial vehicle 300, and the unmanned aerial vehicle 300 charges on going to a specified charging position according to the charging instruction after receiving the charging instruction. The charging drone 300 sends the current and voltage of the receiving circuit 311 to the wireless charging device 200 at every moment, and the wireless charging device 200 adjusts the transmitting coil and the receiving coil to be at the same frequency according to the current and voltage of the receiving circuit 311 and the current and voltage of the transmitting circuit 240. Unmanned aerial vehicle 300 in charging still acquires the battery temperature through unmanned aerial vehicle battery 320's battery management system, and send the battery temperature to thermostated container 500, thermostated container 500 compares unmanned aerial vehicle battery 320's battery temperature and predetermined temperature range, when the battery temperature is less than the minimum temperature of temperature range, thermostated container 500's fan 550 blows hot-blast to unmanned aerial vehicle, improve unmanned aerial vehicle battery 320's battery temperature, when the battery temperature is higher than the maximum temperature of temperature range, thermostated container 500's fan 550 blows hot-blast to unmanned aerial vehicle, improve unmanned aerial vehicle battery 320's battery temperature. After the charging is completed, the unmanned aerial vehicle 300 returns to the position before charging, and continues to execute the flight task.

Fig. 2 is a schematic device diagram illustrating another drone power supply system provided in accordance with an embodiment of the present description. As shown in fig. 2, the ground power supply device 100 includes a power generation device 110, a first measurement device 120, an energy storage device 140, a first communication device 130, and an emergency backup power source 150, the power generation device 110 includes a solar panel 111, a wind power generator 112, a solar controller 113, and a first rectification circuit 114, and the energy storage device 140 includes an energy storage battery 141, a first DC-DC converter 142, and a battery management system 143; wherein:

a power generation device 110 for converting solar energy and wind energy into electric energy through a solar cell panel 111 and a wind power generator 112, storing the electric energy generated by the solar cell panel 111 into the energy storage device 140 through a solar controller 113, and storing the electric energy generated by the wind power generator 112 into the energy storage device 140 through a first rectification circuit 114;

the energy storage device 140 is configured to store the electric energy generated by the power generation device 110 in the energy storage battery 141, obtain information about electric quantity of the energy storage battery 141 through a battery management system 143, convert the electric energy in the energy storage battery 141 into usable electric energy through a first DC-DC converter 142, and charge the wireless charging device 200;

a first measuring device 120, configured to measure an environmental parameter around the power generation device 110, and obtain environmental information; wherein the environmental information comprises wind speed, light radiation intensity, ambient temperature and ambient humidity;

the emergency standby power supply 150 is configured to receive the switching instruction forwarded by the first communication device 130, and supply power to the wireless charging device 200 according to the switching instruction;

the first communication device 130 is configured to send state information of the ground power supply device 100 to the ground total control platform 400, receive the switching instruction sent by the ground total control platform 400, and send the switching instruction to the emergency standby power supply 150; the state information of the ground power supply device 100 includes the environment information, the power information, and the state information of the emergency power supply 140, and the state information of the emergency power supply 150 includes a working state, a total battery pack, and an available battery pack.

Specifically, the emergency backup battery 150 provided in the above embodiment may include an electrolyte tank, a pipeline, an electromagnetic valve, and a metal-air battery cell, where each metal-air battery cell is correspondingly connected to the electrolyte tank through one pipeline, and each pipeline is provided with one electromagnetic valve, and the electromagnetic valves are in signal connection with the first communication device 130; wherein, the electromagnetic valve is a normally closed valve. Referring to fig. 3, fig. 3 is a schematic diagram illustrating a structure of an emergency backup power supply 150 provided according to an embodiment of the present disclosure. The working principle of the emergency backup battery 150 is as follows: the electromagnetic valve receives the high level signal sent by the first communication device 130, and automatically opens the valve, so that the electrolyte in the electrolyte tank flows into the metal-air battery monomer connected with the electrolyte tank along the pipeline, and the metal-air battery starts to discharge.

The wireless charging device 200 includes a gravity sensor 260, a second measuring device 210, a high-frequency inverter 230, a transmitting circuit 240, a second communication device 220, and a transmitting-end control circuit 250; wherein:

the gravity sensor 260 is configured to sense landing of the unmanned aerial vehicle 300, so as to obtain a landing position of the landed unmanned aerial vehicle 300 on the wireless charging device 200, send a start signal to the transmitting circuit 240 of the corresponding charging location according to the landing position, and obtain quantity information of the used charging locations and number information of the used charging locations;

the high-frequency inverter 230 is used as a power supply of the transmitting circuit 240;

the transmitting circuit 240 is configured to receive the start signal sent by the gravity sensor 260, so as to transmit electric energy to the receiving circuit 311 of the unmanned aerial vehicle 300 parked at the corresponding charging position; one charging potential is correspondingly configured to one transmitting circuit 240;

the second measuring device 210 is configured to obtain the voltage and the current of the transmitting circuit 240 corresponding to the used charging position through a voltage sensor and a current sensor, respectively, and obtain the power of the transmitting circuit 240 corresponding to the used charging position through a power sensor;

the second communication device 220 is configured to send the state information of the wireless charging device 200 to the ground master control platform 400, and receive the charging information sent by the unmanned aerial vehicle 300; wherein the status information of the wireless charging apparatus 200 includes the first location information and the charging location information, the first location information represents a geographic location of the wireless charging apparatus 200, the charging location information includes information of a number of used charging locations, and power supply information of used charging locations, the power supply information of used charging locations includes a voltage, a current, and a power of the transmitting circuit 240 corresponding to the used charging locations;

the transmitting terminal control circuit 250 is configured to select an optimal transmitting coil according to a position relationship between the unmanned aerial vehicle 300 and the transmitting coil 240, and switch the switch to the optimal transmitting coil; acquiring transmission power according to the current and voltage of the receiving circuit 311 and the current and voltage of the transmitting circuit 240; and adjusting the capacitance value of a variable capacitor of the adjustable impedance matching circuit according to the transmission power, and stopping adjustment when the transmission power reaches the maximum value.

Specifically, the working principle of the above embodiment is as follows: treat unmanned aerial vehicle 300 that charges and after on the electric potential that charges that descends wireless charging device 200, set up the landing position that unmanned aerial vehicle 300 was sensed to gravity sensor 260 on the position that charges, confirm the position that charges that unmanned aerial vehicle 300 corresponds to start the transmitting circuit 240 power at this electric potential that charges. Since the gravity sensor 260 can sense the landing of the drone 300, information of the unused charging points, such as the number, the position, and the number, can be obtained according to the landing position of the drone 300. The high frequency inverter 230 serves as a power source of the transmitting circuit, and supplies power to the transmitting circuit 240 after receiving the start signal transmitted from the gravity sensor 260. The transmitting circuit 240 charges the unmanned aerial vehicle 300 in a magnetic resonance wireless charging mode, and the receiving circuit 311 is arranged at the end of the unmanned aerial vehicle 300. Receiving circuit 311 includes a receiving coil, and transmitting circuit 240 includes a plurality of transmitting coil, and the distribution position of every transmitting coil is different, after unmanned aerial vehicle 300 descends to the fill potential, no matter which position is located to unmanned aerial vehicle 300's receiving coil, all has rather than assorted transmitting coil, has solved transmitting coil and receiving coil's the too big problem that influences transmission efficiency of distance. In addition, the transmitting coils are connected to the transmitting circuit 240 through the change-over switch to form a transmitting loop, and because the change-over switch is a single-pole multi-throw switch, when one transmitting coil is connected to the transmitting circuit 240, other transmitting coils do not form a closed loop, so that inductance cannot be generated to influence the working state of the transmitting circuit 240. The transmitting circuit 240 further adds an adjustable impedance matching circuit, and the capacitance value of the variable capacitor is adjustable. The second measurement device 210 obtains the current, voltage and power of the transmission circuit 240, and the second communication device 220 receives the current, voltage and power of the receiving circuit 311 measured by the third measurement device 314 and transmitted by the first communication module 370 of the drone 300. The transmitting end control circuit 260 selects an optimal transmitting coil according to the position relationship between the receiving coil and the transmitting coil, and switches the switch to the optimal transmitting coil. After the transmitting coil is determined, the capacitance value of the variable capacitor of the adjustable impedance matching circuit is adjusted until the power of the receiving circuit 311 reaches the maximum value, at this time, the impedance of the transmitting loop is minimum, and the transmission efficiency is highest. The second communication device 220 sends the first position information and the charging position information representing the geographic position of the wireless charging device 200 to the ground master control platform 400, and the ground master control platform 400 can reasonably allocate the charging sequence of the nearby unmanned aerial vehicles 300 according to the first position information and the charging position information.

Referring to fig. 4, fig. 4 is an equivalent circuit diagram illustrating magnetic resonance wireless charging provided according to an embodiment of the present specification. In fig. 4, the components illustrate: u shape_sFor a high-frequency alternating current power supply, R₀Adding internal resistance of resonant inductor to transmitting side₀Addition of a resonant inductance, C, to the transmitting side₁Compensating the capacitance for the transmission side resonance, R₁Is an equivalent resistance of the transmitting loop, L₁For self-inductance of the transmitting coil, L₂For self-inductance of the receiving coil, R₂To receive the equivalent resistance of the loop, C₃For the resonance compensation capacitance on the receiving side, R₃Adding internal resistance of resonant inductor to receiving side₃Addition of resonant inductance, R, for receiver-side resonance_LIs a load resistor. M is the mutual inductance of the transmitter coil and the receiver coil.

Specifically, the operating principle of the magnetic resonance wireless charging in the above embodiment is as follows: suppose L₀＝L₁＝L₂＝L₃Then, in the case of full resonance:

the circuit simplification mesh equation is:

neglecting the internal resistance R of the additional resonance inductor at the transmitting side₀Equivalent resistance R of transmission loop₁Equivalent resistance R of receiving circuit₂The receiving side is added with the internal resistance R of the resonance inductor₃Is obtained by

Current transfer ratio:

voltage transfer ratio:

the system transmission power is:

from the above, the voltage and current at the receiving end of the magnetic resonance wireless charging mode, and the system transmission power are all equal to the resonant frequency w, the mutual inductance M, and the load R_LSelf-inductance L of transmitting coil₁And self-inductance L of receiving coil₂It is related. When the load of the receiving end changes or the distance between the receiving end and the transmitting end changes, the wireless charging is affected.

In order to weaken the influence of the load change of the receiving end and the distance change between the receiving end and the transmitting end on wireless charging, the magnetic resonance wireless charging circuit is modified according to the working principle of the equivalent circuit of the magnetic resonance wireless charging. Referring to fig. 5, fig. 5 is a schematic diagram illustrating structures of a transmitting circuit and a receiving circuit provided according to an embodiment of the present specification. The transmitting circuit 240 is improved according to the transmitting end of the basic resonance equivalent circuit of the magnetic resonance wireless charging, the resonance compensation capacitor is replaced by an adjustable impedance matching circuit, and a multi-branch switching circuit is added, wherein each branch is a transmitting coil and is equivalent to an inductor series resistor. The receiving circuit 311 directly applies resonance equivalent electricity of magnetic resonance wireless chargingThe receiving end of the way. The receiving circuit 311 is additionally provided with a voltmeter and an ammeter for measuring a voltage value and a current value of the receiving circuit 311, respectively. In fig. 5, the components illustrate: u shape_sFor a high-frequency alternating current power supply, R₀Adding internal resistance of resonant inductor to transmitting side₀Adding resonant inductance to the transmitting side, C_aFor adjustable impedance matching circuit capacitance, R_aFor adjustable impedance matching circuit resistance, L_aFor adjustable impedance matching circuit inductance, C_pVariable capacitors, R, for adjustable impedance matching circuits₁And R₄Respectively two equivalent resistances of the transmitting loop, L₁And L₄Corresponds to R₁And R₂Of the transmitting circuit of (2) is self-inductive₂For self-inductance of the receiving coil, R₂To receive the equivalent resistance of the loop, C₃For the resonance compensation capacitance on the receiving side, R₃Adding internal resistance of resonant inductor to receiving side₃Addition of resonant inductance, R, for receiver-side resonance_LIs a load resistor. M is the mutual inductance of the transmitter coil and the receiver coil. In addition, on the basis of a resonance equivalent circuit of magnetic resonance wireless charging, a transmitting end control circuit 260 is additionally arranged and used for adjusting the adjustable impedance matching circuit. And a wireless communication module is additionally arranged and is used for transmitting the voltage value and the current value of the receiving circuit.

Specifically, the operation principle of the transmitting end control circuit 260 is as follows: and selecting the transmitting coil with the optimal distance from the receiving coil according to the position relation between the receiving coil and the transmitting coil. After the transmitting coil is confirmed, the voltage value and the current value of the transmitting circuit 240 and the voltage value and the current value of the receiving circuit 311 are obtained, and the system transmission power is calculated according to the above system transmission power formula. The capacitance value of the variable capacitor is adjusted, when the transmission power of the system reaches the maximum value, the adjustment is completed, the matching impedance of the transmitting loop is minimum, and the charging efficiency is improved. The charging efficiency is improved by modifying the transmitting circuit and adjusting the parameters of the transmitting circuit through the transmitting terminal control circuit, which is one of the invention points of this embodiment.

The unmanned aerial vehicle 300 comprises a wireless energy transmission receiving end 310, an unmanned aerial vehicle battery 320, a memory module 330, a positioning module 340, a battery module 350, a fixed-point landing module 360 and a first communication module 370, wherein the wireless energy transmission receiving end 310 comprises a receiving circuit 311, a second rectifying circuit 312, a third measuring device 314 and a second DC-DC converter 313; wherein:

a receiving circuit 311, configured to receive the electric energy delivered by the transmitting circuit 240; wherein the receiving circuit 311 comprises a receiving coil; a second rectifying circuit 312 for transferring the electric power received by the receiving circuit 311 to the second DC-DC converter 313; the second DC-DC converter 313 is configured to convert the electric energy transmitted from the second rectifying circuit 312 into usable electric energy, and charge the drone battery 320; the third measurement device 314 is configured to obtain charging information of the drone 300 and send the charging information to the first communication module 370 of the drone 300; the charging information includes voltage, current and power of the receiving circuit 311 corresponding to the drone 300;

a positioning module 340 configured to obtain second position information of the drone 300; wherein the second location information characterizes a geographic location of the drone 300; a battery module 350 configured to acquire battery information of the drone 300; wherein the battery information includes a battery capacity, a remaining capacity, a battery temperature, a battery state of health, a power usage, and a voltage of the unmanned aerial vehicle battery 320; a fixed-point landing module 360 configured to land the drone 300 to a charging point of a corresponding wireless charging device 200 according to the charging instruction; a first communication module 370, configured to send status information of the unmanned aerial vehicle 300 to the ground general control platform 400, receive the charging instruction sent by the ground general control platform 400, send the charging information to the second communication device 220 when the unmanned aerial vehicle 300 is charging, and send the battery temperature of the unmanned aerial vehicle battery 320 to the incubator 500; wherein the state information of the drone 300 includes the battery information, the second location information; the memory module 330 is configured to record position coordinates of the unmanned aerial vehicle 300 before landing and charging, and when the unmanned aerial vehicle 300 is fully charged, return to a position before charging according to the position coordinates.

Specifically, the wireless energy transmission receiving terminal 310 adopts a forming design.

Specifically, the working principle of the above embodiment is as follows: during the flight of the drone 300, the second position information representing the geographical position of the drone and the battery information of the drone 300 are sent to the second communication module 410 of the ground general control platform 400 through the first communication module 370. The ground master control platform 400 monitors the remaining capacity of the unmanned aerial vehicle battery 320 at every moment, and when the remaining capacity is lower than a preset capacity threshold, selects the wireless charging device 200 with a relatively close relative position and the idle charging position on the wireless charging device 200 according to the geographical position of the unmanned aerial vehicle 300, generates a charging instruction, and sends the charging instruction to the first communication module 370 through the second communication module 410. The drone 300 receives and analyzes the charging instruction to obtain the geographic position of the wireless charging device 200 to which the user should go, and the charging station number and position to which the user should stop. Fixed point descends module 360 according to the geographical position of wireless charging device 200 to going to and the position serial number and the position of charging of berthing, drives unmanned aerial vehicle 300 and descends in the position of charging that corresponds. When the aircraft goes to charge, the position coordinates before landing and charging are recorded through the memory module 330, so that when charging is completed, the aircraft returns to the corresponding coordinates according to the position coordinates to continue to execute the unfinished flight mission. Unmanned aerial vehicle 300 lands back on corresponding the position of charging, and gravity sensor 260 responds to unmanned aerial vehicle 300's the descending position to acquire the position information of charging that unmanned aerial vehicle 300 stopped, thereby start the position of charging that corresponds, make it charge to unmanned aerial vehicle 300. The second communicator 220 can send the position number of charging that unmanned aerial vehicle 03 stopped to the general control platform 400 in ground, the general control platform 400 in ground will send the position number of charging that unmanned aerial vehicle 300 sent and the position number of charging that unmanned aerial vehicle 300 stopped that second communicator 220 sent for unmanned aerial vehicle 300 to proofread, avoid the information mistake of record in the general control platform 400 in ground, lead to follow-up general control platform 400 in ground to arrange the position of charging for other unmanned aerial vehicle 03, the position coincidence that charges that unmanned aerial vehicle 300 descends. After the charging potential is started, the receiving circuit 311 receives the electric energy transmitted by the transmitting circuit 240, the second rectifying circuit 312 transmits the electric energy received by the receiving circuit 311 to the second DC-DC converter 313, and the second DC-DC converter 313 converts the electric energy transmitted by the second rectifying circuit 312 into usable electric energy to charge the unmanned aerial vehicle battery 320. At this time, the third measuring device 314 measures the voltage value, the current value and the power of the receiving circuit 311 and forwards the measured values to the second communication device 220 through the first communication module 370, so that the transmitting end control circuit 260 adjusts the transmission power according to the voltage value, the current value and the power of the receiving circuit 313. After the drone 300 enters the charging mode, the battery management system of the drone battery 320 acquires the battery temperature and sends the battery temperature by the first communication module 370 to the third communication device 510 of the oven 500 so that the oven 500 maintains the battery temperature within the appropriate temperature range according to the battery temperature of the drone battery 320.

The ground total control platform 400 includes a second communication module 410, a first control 420, a second control module 430, and a display module 440:

a second communication module 410, configured to receive the status information of the ground power supply apparatus 100, the status information of the wireless charging apparatus 200, and the status information of the unmanned aerial vehicle 300, which are respectively sent by the first communication apparatus 130, the second communication apparatus 220, and the first communication module 370, and send the charging instruction to the unmanned aerial vehicle 300 and the switching instruction to the ground power supply apparatus 100;

the first control module 420 is configured to determine whether the unmanned aerial vehicle 300 needs to be charged according to the remaining unmanned aerial vehicle amount of the battery information, and if the unmanned aerial vehicle 300 needs to be charged, determine, according to the first location information and the second location information, that the unmanned aerial vehicle 300 goes to the wireless charging device 200 for charging, determine, according to charging location information corresponding to the wireless charging device 200, a charging location at which the unmanned aerial vehicle 300 stops, and generate the charging instruction according to the first location information of the wireless charging device 200 and number information of the corresponding charging location;

a second control module 430 configured to send the switching instruction to the first communication device 130 according to the information about the amount of power in the energy storage battery 141 and the information about the state of the emergency backup power source 150;

the display module 440 is configured to display the status information of the ground power supply device 100, the wireless charging device 200 and the unmanned aerial vehicle 300 through an upper computer interface, and display the charging information of the unmanned aerial vehicle 300 during charging.

Specifically, the first control module 420 in the above embodiment may include:

an acquisition unit configured to acquire a battery capacity, a remaining power amount, a power usage amount, a voltage, a flight speed, second position information, and first position information of the wireless charging device 200 of the drone 300, and acquire a distance between the drone 300 and the nearest wireless charging device 200 according to the first position information and the second position information;

a calculating unit, configured to obtain current energy of the unmanned aerial vehicle 300 according to a preset energy calculation formula, obtain minimum energy required by the unmanned aerial vehicle to fly to the nearest wireless charging device 200 according to a preset minimum energy calculation formula, thereby obtaining a difference value between the current energy of the unmanned aerial vehicle 300 and the minimum energy required by the unmanned aerial vehicle 300 to fly to the nearest wireless charging device 200, and obtain redundant flight time of the unmanned aerial vehicle 300 according to a preset flight time formula; wherein the content of the first and second substances,

the energy calculation formula is

c_e＝c×s×u

The minimum energy calculation formula is

The formula of the flight time is

Wherein, c_eFor unmanned aerial vehicle current energy, c is unmanned aerial vehicle's battery capacity, s is unmanned aerial vehicle's remaining capacity percentage, u is unmanned aerial vehicle voltage, c_minThe minimum energy required for the unmanned aerial vehicle to fly to the nearest wireless charging device,d is the distance of unmanned aerial vehicle and nearest wireless charging device, v is the flight speed of unmanned aerial vehicle, p is the power consumption of unmanned aerial vehicle, delta is the difference of unmanned aerial vehicle's current energy and the required minimum energy that unmanned aerial vehicle flies to nearest wireless charging device, delta ═ c_e-c_minAnd t is the redundant flight time of the unmanned aerial vehicle;

a priority ranking unit configured to compare the redundant flight time of the unmanned aerial vehicle 300 with the redundant flight time of the unmanned aerial vehicle 300 flying to the same wireless charging device 200 if the redundant flight time is within a preset time range, and rank the priorities of all unmanned aerial vehicles 300 traveling to the same wireless charging device 200 according to the redundant flight time; wherein the smaller the redundant flight time, the higher the drone 300 priority.

The working principle of the first control module 420 is as follows: the battery capacity, the remaining capacity percentage, the voltage, the flying speed, the power consumption, and the first position information of the drone 300, which are transmitted by the first communication module 370, are acquired in real time. The distance between the drone 300 and the nearest wireless charging device 200 is determined based on the first position information and the second position information of all the wireless charging devices 200 near the drone 300. And obtaining the current energy of the unmanned aerial vehicle according to the energy calculation formula. According to the minimum energy calculation formula, the minimum energy required by the unmanned aerial vehicle to fly to the nearest wireless charging device is obtained, and therefore the difference value between the current energy of the unmanned aerial vehicle and the minimum energy required by the unmanned aerial vehicle to fly to the nearest wireless charging device can be obtained. The battery capacity and the power of considering different model unmanned aerial vehicles are different, if directly use the difference as the judgement basis, the limitation is great. Therefore, according to the above-mentioned flight time formula, the redundant flight time of the drone 300 is obtained. Redundant time-of-flight may be selected as a ranking criterion for determining whether the drone 300 requires charging, and the charging priority of the drone 300. In principle, as long as the redundant flyable time t is greater than or equal to 0, the drone 300 may fly to the nearest wireless charging device 200. However, considering that energy loss of other electronic devices exists in the actual flight process, the unmanned aerial vehicle is determined to need to be charged in time when t is less than 150 seconds. The charging priorities of the drones 300 are sorted according to the numerical value of the redundant time of flight t, and charging processing is preferentially performed on the drones 300 with smaller t values. The charging sequence of the unmanned aerial vehicle is managed, so that reasonable utilization of limited electric energy resources is achieved, and the unmanned aerial vehicle is one of the invention points of the embodiment.

The incubator 500 includes a third communication device 510, a comparison circuit 520, a first relay 530, a second relay 540, and a fan 550; the wireless charging device 200 is arranged in the thermostat 500, the fans 550 are arranged around the charging positions, the blowing port of each fan 550 faces one charging position, the charging positions at the intersection points of the extension straight lines of the blowing ports of the fans 550 arranged in the transverse rows and the fans 550 arranged in the longitudinal rows correspond to the charging positions responsible for the two fans 550, and each charging position corresponds to one comparison circuit 520, one first relay 530, one second relay 054 and the two fans 550; wherein:

the third communication device 510 is configured to receive the serial number information of the used charging location sent by the second communication device 220, receive the battery temperature of the drone 300 on the used charging location sent by the first communication module 130, and determine the specific position of the used charging location according to the serial number information of the used charging location, so as to send the battery temperature of the drone 300 on the corresponding used charging location to the corresponding comparison circuit 520;

a comparison circuit 520, configured to compare the battery temperature of the drone 300 on the corresponding used charging potential with a preset temperature range, send a high level signal to the corresponding first relay 530 and the corresponding second relay 540 if the battery temperature of the drone 300 on the used charging potential is lower than the lowest temperature of the preset temperature range, send a high level signal to the corresponding second relay 540 and send a low level signal to the corresponding first relay 530 if the battery temperature of the drone 300 on the used charging potential is higher than the highest temperature of the preset temperature range, and send a low level signal to the corresponding first relay 530 and the corresponding second relay 540 if the battery temperature of the drone on the used charging potential is within the preset temperature range;

the first relay 530 is used for receiving the high-level signal sent by the corresponding comparison circuit 520 and starting the resistance wire heating device of the corresponding fan 550, or receiving the low-level signal sent by the corresponding comparison circuit 520 and closing the resistance wire heating device of the corresponding fan 550;

the second relay 540 is configured to receive the high level signal sent by the corresponding comparison circuit 520 and start the blowing device of the corresponding fan 550, or receive the low level signal sent by the corresponding comparison circuit 520 and close the blowing device of the corresponding fan 550;

and the fan 550 is used for blowing air to the corresponding used charging position upper unmanned aerial vehicle 300.

Specifically, the working principle of the above embodiment is as follows: since the operating modes of the fans 550 in the incubator 500 are two-to-one, the two fans 550 are correspondingly responsible for one drone 300, and after the battery temperature of the drone battery 320 sent by the first communication module 370 is received through the third communication device 510, the serial number information of the charging station where the drone 300 stops, which is sent by the second communication device 220 and received through the third communication device 510, is needed, so that the specific position of the charging station is determined according to the serial number information of the charging station. According to the specific position of the charging potential, the battery temperature is sent to the corresponding comparison circuit 520, and the comparison circuit 520 judges whether the battery temperature is within the preset temperature range. If the battery temperature is lower than the lowest temperature of the temperature range, a high level signal is sent to the corresponding first relay 530 and the corresponding second relay 540, if the battery temperature is higher than the highest temperature of the temperature range, a high level signal is sent to the corresponding second relay 540 and a low level signal is sent to the corresponding first relay 530, and if the battery temperature is in the preset temperature range, a low level signal is sent to the corresponding first relay 530 and the corresponding second relay 540. The first relay 530 is connected to the resistance wire heating device of the fan, and after the first relay 530 receives the high level signal or the low level signal, the resistance wire heating device of the fan 550 is turned on or off. The second relay 540 is connected to the blowing device of the fan 550, and starts or stops the blowing device of the fan 550 after the second relay 540 receives the high level signal or the low level signal. When the resistance wire heating device and the blowing device of the fan 550 operate simultaneously, the fan 550 blows out hot air, which can improve the ambient temperature of the battery of the unmanned aerial vehicle, thereby improving the battery temperature of the battery 320 of the unmanned aerial vehicle. When the fan 550 is operated only by the blowing device, the fan 550 blows out cold air, which can lower the ambient temperature of the drone battery 320, thereby lowering the battery temperature of the drone battery 320.

Specifically, referring to fig. 6, fig. 6 is a schematic diagram illustrating an arrangement of fans inside an oven provided according to an embodiment of the present specification. In fig. 6, the charging potential is placed in four rows and four columns, the fans 550 are horizontally placed in front and rear rows of the charging potential, the number of the fans 550 in each row is the same as that of the charging potential in each row, and the blowing ports of the fans 550 horizontally placed are aligned with the charging potentials in the same column. The fans 550 are arranged in the left and right columns of the charging positions in a vertical row, the number of the fans 550 in each column is the same as that of the charging positions in each column, and the air blowing ports of the fans 550 arranged in the vertical row are aligned with the charging positions in the same row. Hypothesis C_xyThe position of the charging potential is shown, specifically, the x-th row and the y-th column. When the unmanned plane stops at C₁₁During charging, the first fan 550 in the front row from left to right and the first fan 550 in the left row from top to bottom are activated. Wherein, for C₁₁For charging, the extended lines of the blowing openings of the fourth fan 550 in the front row from left to right and the first fan 550 in the right row from top to bottom also intersect at C₁₁However, since the front row of fans 550 is closer from left to right and the left row of fans 550 is closer from top to bottom, the heating or cooling effect is better and the fans in these two positions will be activated accordingly. The corresponding relation between the position of the fan and the charging position can be preset and is realized through a first relay and a second relay between the charging position and the fan. The point-to-point heating or cooling of the environmental temperature of the unmanned aerial vehicle battery by the two fans arranged in the row and in the column is one of the inventions of the embodiment.

Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or processes in the figures are not necessarily required to practice this description.

Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present specification, and not to limit them; although the present description has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present specification.

Claims

1. An unmanned aerial vehicle power supply system, comprising: ground power supply unit, wireless charging device, unmanned aerial vehicle, platform and thermostated container are always controlled on ground, wherein:

the wireless charging device is used for charging the unmanned aerial vehicle parked on a charging potential through the transmitting circuit and adjusting the transmitting circuit according to the current and the voltage of the receiving circuit of the wireless energy transmission receiving end of the unmanned aerial vehicle; the charging potentials are arranged on a platform of the wireless charging device in an array manner, and the transmitting circuit and the receiving circuit are respectively a transmitting end and a receiving end of a magnetic resonance wireless charging circuit; the transmitting circuit comprises a transmitting circuit power supply, an internal resistance of a transmitting side additional resonant inductor, an adjustable impedance matching circuit, a change-over switch and a plurality of transmitting coils, wherein: the transmitting circuit power supply is connected with the internal resistance of the additional resonant inductor and the transmitting side additional resonant inductor in series and is connected with the input end of the adjustable impedance matching circuit in parallel; the change-over switch is connected with the transmitting coil in series and is connected with the output end of the adjustable impedance matching circuit in parallel; the adjustable impedance matching circuit comprises a capacitor, a resistor and a variable capacitor, wherein the resistor is connected with the variable capacitor in parallel, and the capacitor is respectively connected with the resistor and the variable capacitor in series; the transmitting side additional resonant inductor is connected in series with the capacitor; the switch is connected in series with the transmitting coil and is connected with the variable capacitor in parallel;

the constant temperature box is used for maintaining the battery temperature of the unmanned aerial vehicle within a preset temperature range according to the battery temperature of the unmanned aerial vehicle which is being charged;

the wireless charging device includes: gravity sensor, high frequency inverter, transmitting circuit, second measuring device, second communication device and transmitting terminal control circuit, wherein:

the second measuring device is used for respectively acquiring the voltage and the current of the transmitting circuit corresponding to the used charging position through the voltage sensor and the current sensor;

the second communication device is used for sending the state information of the wireless charging device to the ground master control platform and receiving the charging information sent by the unmanned aerial vehicle; the state information of the wireless charging device comprises first position information and charging position information, wherein the first position information represents the geographic position of the wireless charging device, the charging position information comprises the number information of used charging positions, the number information of the used charging positions and the power supply information of the used charging positions, and the power supply information of the used charging positions comprises the voltage and the current of a transmitting circuit corresponding to the used charging positions;

the transmitting end control circuit is used for selecting an optimal transmitting coil according to the position relation between the unmanned aerial vehicle and the transmitting coil and switching the selector switch to the optimal transmitting coil; acquiring transmission power according to the current and the voltage of the receiving circuit and the current and the voltage of the transmitting circuit; adjusting the capacitance value of a variable capacitor of the adjustable impedance matching circuit according to the transmission power, and stopping adjustment when the transmission power reaches the maximum value;

the ground power supply device includes: power generation facility, energy memory, emergent stand-by power supply, first measuring device and first communication device, wherein:

the power generation device is used for converting solar energy and wind energy into electric energy through the solar cell panel and the wind driven generator, storing the electric energy generated by the solar cell panel into the energy storage device through the solar controller, and storing the electric energy generated by the wind driven generator into the energy storage device through the first rectification circuit;

the first communication device is used for sending the state information of the ground power supply device to the ground master control platform, receiving the switching instruction sent by the ground master control platform and sending the switching instruction to the emergency standby power supply; the state information of the ground power supply device comprises the environment information, the electric quantity information and emergency standby power supply state information, and the emergency standby power supply state information comprises a working state, a total battery pack and an available battery pack;

the wireless energy transmission receiving terminal is arranged on the unmanned aerial vehicle body and comprises a receiving circuit, a second rectifying circuit, a second DC-DC converter and a third measuring device, wherein:

the third measuring device is used for acquiring the charging information of the unmanned aerial vehicle and sending the charging information to the first communication module of the unmanned aerial vehicle; the charging information comprises voltage and current of a receiving circuit corresponding to the unmanned aerial vehicle;

the wireless energy transmission receiving end adopts a shaping design.

2. The system of claim 1, wherein the emergency backup power source comprises: electrolyte tank, pipeline, solenoid valve and metal air battery monomer, wherein:

3. The system of claim 1, wherein the drone includes: location module, battery module, fixed point fall module, first communication module and memory module, wherein:

the first communication module is configured to send state information of the unmanned aerial vehicle to the ground general control platform, receive the charging instruction sent by the ground general control platform, send the charging information to the second communication device when the unmanned aerial vehicle is charged, and send the battery temperature of the unmanned aerial vehicle to the incubator; the state information of the unmanned aerial vehicle comprises the battery information and the second position information;

the memory module is configured to record position coordinates before landing and charging of the unmanned aerial vehicle, and after the unmanned aerial vehicle is charged, the position before charging is returned according to the position coordinates.

4. The system of claim 3, wherein the ground master platform comprises: second communication module, first control module, second control module and display module, wherein:

5. The system of claim 4, wherein the first control module comprises:

the calculation unit is configured to acquire the current energy of the unmanned aerial vehicle according to a preset energy calculation formula, acquire the minimum energy required by the unmanned aerial vehicle to fly to the nearest wireless charging device according to a preset minimum energy calculation formula, thereby acquiring a difference value between the current energy of the unmanned aerial vehicle and the minimum energy required by the unmanned aerial vehicle to fly to the nearest wireless charging device, and acquire redundant flight time of the unmanned aerial vehicle according to a preset flight time formula; wherein the content of the first and second substances,

the energy calculation formula is

c_e＝c×s×u

The minimum energy calculation formula is

The formula of the flight time is

Wherein, c_eFor unmanned aerial vehicle current energy, c is unmanned aerial vehicle's battery capacity, s is unmanned aerial vehicle's remaining capacity percentage, u is unmanned aerial vehicle voltage, c_minFor unmanned aerial vehicle fly to the required minimum energy of nearest wireless charging device, d be unmanned aerial vehicle and nearest wireless charging device's distance, v be unmanned aerial vehicle's flying speed, p be unmanned aerial vehicle's power consumption, delta be unmanned aerial vehicle's current energy and unmanned aerial vehicle fly to the required minimum energy of nearest wireless charging device difference, delta ═ c_e-c_minAnd t is the redundant flight time of the unmanned aerial vehicle;

6. The system according to claim 3, wherein said wireless charging device is disposed inside said oven, said oven comprises fans, a first relay, a second relay, a comparison circuit and a third communication device, said fans are arranged around said charging positions, each of said fans has a blowing port facing a charging position, the charging position at the intersection of the extension straight line of the blowing ports of the fans arranged in a row and the fans arranged in a column corresponds to the charging position for two fans, each charging position corresponds to one comparison circuit, one first relay, one second relay and two fans, wherein: