CN112607020A - Automatic charging system for rotor unmanned aerial vehicle - Google Patents
Automatic charging system for rotor unmanned aerial vehicle Download PDFInfo
- Publication number
- CN112607020A CN112607020A CN202011529179.1A CN202011529179A CN112607020A CN 112607020 A CN112607020 A CN 112607020A CN 202011529179 A CN202011529179 A CN 202011529179A CN 112607020 A CN112607020 A CN 112607020A
- Authority
- CN
- China
- Prior art keywords
- charging
- aerial vehicle
- unmanned aerial
- rotor unmanned
- power module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/122—Circuits or methods for driving the primary coil, e.g. supplying electric power to the coil
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses an automatic charging system for a rotor unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicle charging and comprises a rotor unmanned aerial vehicle body and a charging seat, wherein a charging assembly and a supporting structure are arranged in the rotor unmanned aerial vehicle body; the charging seat is in a round table shape, the middle upper part of the outer side surface of the charging seat is provided with a lower electrode connecting piece, and the lower part of the outer side surface of the charging seat is provided with a detection head; rotor unmanned aerial vehicle body bottom is provided with downwardly extending's supporting leg, and the supporting leg bottom is provided with the horizontal location circle, and horizontal location circle inner wall is provided with the round test strip, and horizontal location circle bottom is provided with a plurality of universal wheelsets. The invention has the advantages of high automation level, high charging efficiency and good charging effect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle charging, in particular to an automatic charging system for a rotor unmanned aerial vehicle.
Background
Along with the continuous maturity and the development of unmanned aerial vehicle technique, because unmanned aerial vehicle has that the cost is lower relatively, unmanned casualties risk, survivability are strong, mobility is good, advantages such as convenient to use for unmanned aerial vehicle uses more extensively in civilian aspect, and the major application market includes: the method comprises the following steps of aerial photography, geological and geomorphic surveying, forest fire prevention, earthquake investigation, nuclear radiation detection, border patrol, emergency disaster relief, crop production assessment, farmland information monitoring, pipelines, high-voltage transmission line patrol, wild animal protection, scientific research experiments, maritime reconnaissance, fish condition monitoring, environment monitoring, atmospheric sampling, rain enhancement, resource exploration, poison prevention, anti-terrorism, police reconnaissance patrol, public security monitoring, fire-fighting aerial reconnaissance, communication relay, city planning, digital city construction and other fields. The unmanned aerial vehicle system mainly includes aircraft organism, flight control system, data link system, transmission recovery system and electrical power generating system, and wherein electrical power generating system guarantees the important guarantee of whole unmanned aerial vehicle continuation of the journey and result of use, and very crucial in the electrical power generating system is the unmanned aerial vehicle technique of charging. According to statistics, present unmanned aerial vehicle extensively adopts the motor as driving system, and the duration of the battery is generally short, need charge once more after descending or change the battery, just can drop into the use once more, but because unmanned aerial vehicle can not the accurate alignment head that charges when descending, need the user to carry out artifical supplementary, lead to it can't accomplish full-automatic duration all the time and charge, many rotor unmanned aerial vehicle can accomplish the VTOL of certain degree on the present market, but face the requirement of this point of unmanned aerial vehicle automatic charging, still can not realize accurate ground automatic duration and charge.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the automatic charging system for the rotor unmanned aerial vehicle, which is automatic in the whole process, does not need any manual participation, enables the whole rotor unmanned aerial vehicle to have a very high automation level, and is good in charging effect and high in charging efficiency.
An automatic charging system for a rotor unmanned aerial vehicle comprises a rotor unmanned aerial vehicle body and a charging seat, wherein a charging assembly and a supporting structure are arranged in the rotor unmanned aerial vehicle body, a power module is arranged on the supporting structure, the power module is connected with a lifting assembly, the lifting assembly is connected with the charging assembly, the charging assembly comprises a charging table, a circular truncated cone-shaped space is formed at the bottom of the charging table to form a charging cavity, and an upper electrode connecting piece is arranged on the annular inner wall of the charging cavity; the charging seat is in a round table shape, a lower electrode connecting piece is arranged at the middle upper part of the outer side surface of the charging seat, the inclination angle of the upper electrode connecting piece is equal to that of the lower electrode connecting piece, and a detection head is arranged at the lower part of the outer side surface of the charging seat; the bottom of the rotor unmanned aerial vehicle body is provided with a supporting leg extending downwards, the bottom of the supporting leg is provided with a horizontal positioning ring, the inner wall of the horizontal positioning ring is provided with a circle of detection strips in the circumferential direction, and the bottom of the horizontal positioning ring is provided with a plurality of universal wheel groups in the circumferential direction; the detection head can detect the detection strip, when the detection head detects the detection strip, the power module is started, the started power module can drive the lifting assembly to move, and the moved lifting assembly can drive the charging table to move up and down; after the charging stand moves downwards, the charging seat can enter the charging cavity from the bottom surface of the charging stand, and the upper electrode contact piece surface can contact the lower electrode contact piece surface.
Specifically, the universal wheel set includes: the opening is formed at the bottom of the horizontal positioning ring; a rotating base disposed within the opening; the retainer is fixed on the rotating base; and a roller arranged under the retainer; wherein, the rotating base is used for ensuring that the retainer can rotate. Under the effect of rotating the base, can let the gyro wheel towards arbitrary direction to make whole rotor unmanned aerial vehicle body move along any direction, no matter what direction that the skew between chamber central line and the charging seat central line charges is, whole charging chamber can accomplish all the time and the charging seat between the automatic alignment.
Specifically, bearing structure is including fixing the inside mounting platform of rotor unmanned aerial vehicle body, power module sets up mounting platform is last, lifting unit sets up mounting platform central authorities. The mounting platform can guarantee the structural strength of the lifting assembly and the power module.
Specifically, the lifting assembly includes: the rotating rod penetrates through the center of the mounting platform; the driven wheel is fixed at the top of the rotating rod; the limiting rod is arranged on the bottom surface of the mounting platform; the driven wheel is connected with the power module, the surface of the rotating rod is provided with a thread pair, the top of the charging table is provided with an internal thread hole and a sliding hole, the limiting rod penetrates into the charging cavity from the sliding hole, the rotating rod penetrates into the charging cavity from the internal thread hole, and the internal thread hole and the charging cavity are mutually locked. The driven wheel is driven by the power module to drive the whole rotating rod to rotate, the rotating rod after rotating can lead the charging platform to have the trend of up-and-down motion or rotary motion due to the locking of the thread pair on the surface of the rotating rod and the internal thread hole, and the limiting rod is arranged in the sliding hole in a penetrating mode to ensure that the charging platform can not do rotary motion, so that the charging platform can complete up-and-down motion, namely lifting motion.
Specifically, the limiting rod is a plurality of. A plurality of gag lever posts can improve the structural strength of the platform that charges, and the lifting reliability of whole platform that charges is improved to the change phase.
Specifically, a clamping structure for limiting the movement of the driven wheel is fixed on the mounting platform. Similarly, the structure strength of the lifting assembly is improved through the clamping structure, and the motion reliability of the whole lifting assembly is improved through phase change.
Specifically, the power module includes rotation motor and transmission assembly, transmission assembly is connected with the action wheel, the action wheel meshing from the driving wheel. The rotating motor drives the transmission component to move, and the transmission component drives the driving wheel to rotate.
Specifically, the charging assembly further comprises a power source connected to the upper electrode tab. The power source is capable of storing the amount of power accessed by the upper electrode tab.
Specifically, the number of the upper electrode connecting pieces is multiple, the upper electrode connecting pieces are uniformly distributed on the inner wall of the charging cavity in the circumferential direction, the number of the lower electrode connecting pieces is one, and the lower electrode connecting pieces are distributed on the middle upper part of the annular surface of the charging seat. The plurality of upper electrode connecting pieces can form multi-channel power storage, and the electrode access efficiency and the power storage efficiency are effectively improved.
Specifically, rotor unmanned aerial vehicle body top is provided with a plurality of rotor subassemblies. A plurality of rotor subassemblies can guarantee that whole rotor unmanned aerial vehicle body is vertical straight elevating movement.
Specifically, the inside high voltage electric field that is provided with of charging seat, the inside charging circuit that is provided with of platform charges, charging circuit includes: a primary coil; induction electrodes arranged at both ends of the primary coil; a secondary coil; and a rectifying and filtering circuit connected with the secondary coil. When the coil with the electrodes at the two ends is positioned in or beside the high-voltage electric field, the two induction electrodes can induce the voltage difference of the high-voltage electric field and induce the electric field difference due to the distance between the induction electrodes at the two ends of the coil, and the electric field difference generates current in the primary coil through the reaction of the Tesla effect of the primary coil; the secondary coil with less winding is coaxially arranged on the outer ring of the primary coil, the magnetic field change in the primary coil is coupled to the secondary coil to form secondary voltage and current, the voltage and current different from those of the primary coil can be obtained by adjusting the winding of the secondary coil, the current can be processed by the rectifying and filtering circuit to obtain the direct current voltage and current corresponding to the secondary winding, and the battery can be charged by the direct current power supply. Thereby, wireless charging to a certain extent is realized.
The invention has the beneficial effects that:
in the invention, under the action of the rotor, the whole rotor unmanned aerial vehicle body can do straight vertical motion until the whole horizontal positioning ring covers the whole charging seat, the detection head on the charging seat is over against the detection strip on the inner wall of the horizontal positioning ring, so that the charging requirement of the rotor unmanned aerial vehicle body is directly detected, the charging seat can send a signal to the whole power system to enable the lower electrode connecting piece to start to be connected, the power module can receive the signal and immediately start to drive the lifting assembly to move, the lifting assembly moves to drive the charging platform to move downwards, because the central line of the charging cavity and the central line of the charging seat have certain deviation, but because of the action of the horizontal positioning ring (the premise that the horizontal positioning ring can cover the charging seat when the whole charging system can operate), the deviation can not be too large, but the charging seat can not fully face the charging platform, but because the charging cavity and the charging seat are both in the shape of a circular truncated cone, the top of the charging seat with smaller size directly enters the bottom surface of the charging cavity with larger size in the process of gradually moving down the charging platform, then the charging platform continuously moves down until the inner wall of a certain position of the charging platform contacts the outer wall of the certain position of the charging seat due to the deviation, at the moment, the downward pressure is generated on the contact surfaces of the charging platform and the charging platform when the charging platform continuously moves down, on one hand, because the contact surfaces of the charging platform and the charging platform are inclined planes, on the other hand, because the charging seat is fixed, the reaction force of the pressure can be converted into horizontal thrust, the whole charging platform has the trend of horizontal movement under the action of the horizontal thrust, and under the action of the universal wheel group, the automatic fine adjustment position of the whole rotor unmanned aerial vehicle body is realized, so that the central line of the whole charging cavity, to complete the charging operation; equally, after being full of the electricity, power module direct drive lifting unit, thereby lifting unit drive whole platform that charges and shift up, then the rotor starts, and whole rotor unmanned aerial vehicle continues the motion. In the whole automatic contact charging process, whole automatic does not need any artifical participation, lets whole rotor unmanned aerial vehicle possess high automation level, and it is effectual to charge simultaneously, and charging efficiency is high.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a structural elevation view of the body and other structural components of a rotary-wing drone in accordance with the present invention;
FIG. 2 is a sectional view of the structure of FIG. 1 taken along the line A-A;
fig. 3 is a schematic structural view of the unmanned gyroplane body after the connection with the charging base is completed;
fig. 4 is a schematic structural view of the unmanned gyroplane body in automatic contact with a charging stand according to the present invention;
FIG. 5 is an enlarged view of the structure of FIG. 2 at B in accordance with the present invention;
fig. 6 is a perspective view of the structure of the main body and other parts of the unmanned rotorcraft of the present invention;
fig. 7 is a schematic diagram of the connection of the charging circuit according to the present invention.
Reference numerals:
1-rotor unmanned aerial vehicle body, 11-supporting legs, 12-horizontal positioning ring, 121-detection strip, 2-charging seat, 21-lower electrode connecting piece, 22-detection head, 3-charging component, 31-charging table, 311-charging cavity, 312-upper electrode connecting piece, 32-power supply, 4-supporting structure, 41-mounting platform, 411-clamping structure, 5-power module, 51-driving wheel, 6-lifting component, 61-rotating rod, 62-driven wheel, 63-limiting rod, 7-universal wheel group, 71-opening, 72-rotating base, 73-holding frame, 74-roller, 8-rotor component, 9-charging circuit, 91-primary coil, 92-induction electrode, 93-secondary coil, 94-rectifying filter circuit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally arranged when products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operated, and thus, cannot be construed as limiting the present invention.
As shown in fig. 1 to 6, an automatic charging system for a rotor unmanned aerial vehicle comprises a rotor unmanned aerial vehicle body 1 and a charging seat 2, wherein a charging assembly 3 and a supporting structure 4 are arranged inside the rotor unmanned aerial vehicle body 1, a power module 5 is arranged on the supporting structure 4, the power module 5 is connected with a lifting assembly 6, the lifting assembly 6 is connected with the charging assembly 3, the charging assembly 3 comprises a charging table 31, a circular truncated cone-shaped space is formed at the bottom of the charging table 31 and forms a charging cavity 311, and an annular inner wall of the charging cavity 311 is provided with an upper electrode connecting piece 312; the charging seat 2 is in a circular truncated cone shape, the middle upper part of the outer side surface of the charging seat 2 is provided with a lower electrode connecting piece 21, the inclination angle of the upper electrode connecting piece 312 is equal to that of the lower electrode connecting piece 21, and the lower part of the outer side surface of the charging seat 2 is provided with a detection head 22; the bottom of the rotor unmanned aerial vehicle body 1 is provided with a supporting leg 11 extending downwards, the bottom of the supporting leg 11 is provided with a horizontal positioning ring 12, the inner wall of the horizontal positioning ring 12 is provided with a circle of detection strips 121 in the circumferential direction, and the bottom of the horizontal positioning ring 12 is provided with a plurality of universal wheel groups 7 in the circumferential direction; the detection head 22 can detect the detection strip 121, when the detection head 22 detects the detection strip 121, the power module 5 is started, the started power module 5 can drive the lifting assembly 6 to move, and the moved lifting assembly 6 can drive the charging table 31 to move up and down; after the charging stand 31 is moved down, the charging stand 2 can enter the charging cavity 311 from the bottom surface of the charging stand 31, and the surface of the upper electrode tab 312 can contact the surface of the lower electrode tab 21.
In this embodiment, it should be noted that when the control system of the unmanned rotorcraft detects that there is no electric power in the fast operation, the charging dock 2 of the whole contact charging system is searched, and after the charging dock 2 is found, the unmanned rotorcraft can be operated right above the charging dock 2, and at this time, the automatic charging process is started. The whole automatic charging process is as follows: under the action of a rotor, the whole rotor unmanned aerial vehicle body 1 can do straight vertical motion until the whole horizontal positioning ring 12 sleeves the whole charging seat 2, at the moment, the detection head 22 on the charging seat 2 is just opposite to the detection strip 121 on the inner wall of the horizontal positioning ring 12, so that the charging requirement of the rotor unmanned aerial vehicle body 1 is directly detected, the charging seat 2 can send a signal to the whole power supply 32 system to enable the lower electrode connecting piece 21 to start to be connected, the power module 5 can also receive the signal and immediately start, so as to drive the lifting assembly 6 to move, the lifting assembly 6 drives the charging platform 31 to move downwards after moving, because the central line of the charging cavity 311 and the central line of the charging seat 2 have certain deviation, but because of the action of the horizontal positioning ring 12 (the premise that the horizontal positioning ring 12 can sleeve the charging seat 2, the deviation can not be too large, but also the charging seat 2 can not be fully opposite to the charging station 31, but because the charging cavity 311 and the charging seat 2 are both in the shape of a circular truncated cone, the top of the charging seat 2 with smaller size directly enters the bottom surface of the charging cavity 311 with larger size in the process that the charging station 31 gradually moves downwards, then the charging station 31 continuously moves downwards until the inner wall of a certain part of the charging station 31 contacts the outer wall of a certain part of the charging seat 2 due to deviation, at the moment, the charging station 31 continuously moves downwards to generate downward pressure on the contact surfaces of the charging station and the charging station, on one hand, because the contact surfaces of the charging station and the charging station are inclined planes, on the other hand, because the charging seat 2 is fixed, the reaction force of the pressure can be converted into horizontal thrust, the whole charging station 31 has the tendency of horizontal movement under the action of the horizontal thrust, and under the action of the continuous downward movement of the charging station 31, so that the center line of the whole charging cavity 311 is automatically aligned with the center line of the whole charging stand 2, and finally the upper electrode contact piece 312 is fully contacted with the lower electrode contact piece 21 to complete the charging operation; similarly, after being full of the electricity, power module 5 direct drive lifting unit 6, thereby lifting unit 6 drives whole platform 31 that charges and shifts up, then the rotor starts, and whole rotor unmanned aerial vehicle continues the motion. In the whole automatic contact charging process, whole automatic does not need any artifical participation, lets whole rotor unmanned aerial vehicle possess high automation level, and it is effectual to charge simultaneously, and charging efficiency is high.
Specifically, the universal wheel group 7 includes: an opening 71 arranged at the bottom of the horizontal positioning ring 12; a rotating base 72 disposed in the opening 71; a holder 73 fixed to the rotating base 72; and a roller 74 disposed under the holder 73; wherein, the rotating base 72 is used for ensuring that the holder 73 can rotate.
In this embodiment, it should be noted that, under the effect of rotating base 72, roller 74 can be oriented in any direction, so that whole unmanned rotorcraft body 1 moves in any direction, that is, no matter which direction the offset between the central line of charging cavity 311 and the central line of charging dock 2 is oriented, whole charging cavity 311 can always complete the automatic alignment with charging dock 2.
Specifically, bearing structure 4 is including fixing at the inside mounting platform 41 of rotor unmanned aerial vehicle body 1, and power module 5 sets up on mounting platform 41, and lifting unit 6 sets up at mounting platform 41 central authorities.
In the present embodiment, the mounting platform 41 can ensure the structural strength of the lifting assembly 6 and the power module 5.
Specifically, the lifting assembly 6 includes: a rotating rod 61 penetrating the center of the mounting platform 41; a driven wheel 62 fixed on the top of the rotating rod 61; and a stopper 63 provided on the bottom surface of the mounting platform 41; the driven wheel 62 is connected with the power module 5, the surface of the rotating rod 61 is provided with a thread pair, the top of the charging platform 31 is provided with an internal thread hole and a sliding hole, the limiting rod 63 penetrates into the charging cavity 311 from the sliding hole, and the rotating rod 61 penetrates into the charging cavity 311 from the internal thread hole and is mutually locked.
In this embodiment, it should be noted that the driven wheel 62 is driven by the power module 5, so as to drive the whole rotating rod 61 to rotate, the rotating rod 61 after rotating will have a trend of moving up and down or rotating due to the locking of the thread pair on the surface thereof with the internal thread hole, and the limiting rod 63 is inserted into the sliding hole, so as to ensure that the charging platform 31 does not rotate, thereby completing the up and down movement, i.e. the lifting movement.
Specifically, the stopper rod 63 is plural.
In the present embodiment, it should be noted that the plurality of stopper rods 63 can improve the structural strength of the charging stand 31, and improve the reliability of the lifting of the entire charging stand 31 by changing the phase.
Specifically, a detent structure 411 for limiting the movement of the driven wheel 62 is fixed on the mounting platform 41.
In the present embodiment, similarly, the structural strength of the lifting unit 6 is improved by the detent structure 411, and the motion reliability of the entire lifting unit 6 is improved by phase change.
In particular, the power module 5 comprises a rotary motor and a transmission assembly, the transmission assembly being connected to a driving wheel 51, the driving wheel 51 engaging a driven wheel 62.
In this embodiment, it should be noted that the rotating motor drives the transmission assembly to move, and the transmission assembly drives the driving wheel 51 to rotate.
Specifically, the charging assembly 3 further includes a power source 32 connected to the upper electrode tab 312.
In this embodiment, the power source 32 can store the amount of power received by the upper electrode tab 312.
Specifically, the number of the upper electrode tabs 312 is plural, the plural upper electrode tabs 312 are uniformly distributed on the inner wall of the charging cavity 311 in the circumferential direction, the number of the lower electrode tabs 21 is one, and the lower electrode tabs 21 are distributed over the middle upper portion of the annular surface of the charging base 2.
In the present embodiment, it should be noted that the plurality of upper electrode tabs 312 can form multi-channel power storage, and the electrode receiving efficiency and the power storage efficiency are effectively improved.
Specifically, 1 top of rotor unmanned aerial vehicle body is provided with a plurality of rotor subassemblies 8.
In this embodiment, it should be noted that a plurality of rotor assemblies 8 can guarantee that whole rotor unmanned aerial vehicle body 1 is vertical straight elevating movement.
Specifically, the inside high-voltage electric field that is provided with of charging seat 2, the inside charging circuit 9 that is provided with of platform 31 that charges, charging circuit 9 includes: a primary coil 91; induction electrodes 92 provided at both ends of the primary coil 91; a secondary coil 93; and a rectifying-filtering circuit 94 connected to the secondary coil 93.
As shown in fig. 7, in the present embodiment, it should be noted that, when the coil with electrodes at two ends is located inside or beside the high-voltage electric field, the two sensing electrodes 92 sense the voltage difference of the high-voltage electric field and sense the electric field difference due to the distance between the sensing electrodes 92 at two ends of the coil, and the electric field difference generates a current in the primary coil 91 by the reaction of the tesla effect of the primary coil 91; another set of secondary coil 93 with less winding is coaxially arranged at the outer ring of the former primary coil 91, the magnetic field change in the primary coil 91 is coupled to the secondary coil 93 to form secondary voltage and current, the winding of the secondary coil 93 is adjusted to obtain voltage and current different from those of the primary coil 91, the current is processed by the rectifier filter circuit 94 to obtain direct current voltage and current corresponding to the secondary winding, and the battery can be charged by the direct current power supply 32. Thereby, wireless charging to a certain extent is realized.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. An automatic charging system for a rotor unmanned aerial vehicle is characterized by comprising a rotor unmanned aerial vehicle body and a charging seat, wherein a charging assembly and a supporting structure are arranged in the rotor unmanned aerial vehicle body, a power module is arranged on the supporting structure, the power module is connected with a lifting assembly, the lifting assembly is connected with the charging assembly, the charging assembly comprises a charging table, a circular truncated cone-shaped space is formed at the bottom of the charging table to form a charging cavity, and an upper electrode connecting piece is arranged on the annular inner wall of the charging cavity;
the charging seat is in a round table shape, a lower electrode connecting piece is arranged at the middle upper part of the outer side surface of the charging seat, the inclination angle of the upper electrode connecting piece is equal to that of the lower electrode connecting piece, and a detection head is arranged at the lower part of the outer side surface of the charging seat;
the bottom of the rotor unmanned aerial vehicle body is provided with a supporting leg extending downwards, the bottom of the supporting leg is provided with a horizontal positioning ring, the inner wall of the horizontal positioning ring is provided with a circle of detection strips in the circumferential direction, and the bottom of the horizontal positioning ring is provided with a plurality of universal wheel groups in the circumferential direction;
the detection head can detect the detection strip, when the detection head detects the detection strip, the power module is started, the started power module can drive the lifting assembly to move, and the moved lifting assembly can drive the charging table to move up and down;
after the charging stand moves downwards, the charging seat can enter the charging cavity from the bottom surface of the charging stand, and the upper electrode contact piece surface can contact the lower electrode contact piece surface.
2. The automated charging system for a rotary-wing drone of claim 1, wherein the universal wheel set includes:
the opening is formed at the bottom of the horizontal positioning ring;
a rotating base disposed within the opening;
the retainer is fixed on the rotating base; and
a roller arranged below the retainer; wherein the content of the first and second substances,
the rotating base is used for ensuring that the retainer can rotate.
3. The automated charging system for a rotary-wing drone of claim 2, wherein the support structure includes a mounting platform secured within the body of the rotary-wing drone, the power module disposed on the mounting platform, the lift assembly disposed centrally on the mounting platform.
4. The automated charging system for a rotary-wing drone according to claim 3, wherein the lifting assembly includes:
the rotating rod penetrates through the center of the mounting platform;
the driven wheel is fixed at the top of the rotating rod; and the number of the first and second groups,
the limiting rod is arranged on the bottom surface of the mounting platform; wherein the content of the first and second substances,
the driven wheel is connected with the power module, a thread pair is arranged on the surface of the rotating rod, an internal thread hole and a sliding hole are formed in the top of the charging table, the limiting rod penetrates into the charging cavity from the sliding hole, and the rotating rod penetrates into the charging cavity from the internal thread hole and is mutually locked.
5. The automated charging system for a rotary-wing drone according to claim 4, wherein the limiting rod is plural.
6. An automated charging system for a rotorcraft as recited in claim 4, wherein a detent structure is secured to the mounting platform to limit movement of the driven wheel.
7. An automated charging system for a rotary-wing drone according to claim 4, wherein the power module includes a rotating motor and a transmission assembly connected to a drive wheel that engages the driven wheel.
8. An automated charging system for a rotary wing drone according to any one of claims 1 to 7, characterised in that the charging assembly further comprises a power source connected to the upper electrode tab.
9. The automated charging system for a rotorcraft according to any one of claims 1 to 7, wherein a plurality of the upper electrode tabs are evenly distributed on the inner wall of the charging cavity in the circumferential direction, and one of the lower electrode tabs is arranged to cover the middle upper portion of the annular surface of the charging base.
10. The automated charging system for the rotorcraft according to any one of claims 1 to 7, wherein a high-voltage electric field is provided inside the charging stand, a charging circuit is provided inside the charging stand, and the charging circuit includes:
a primary coil;
induction electrodes arranged at both ends of the primary coil;
a secondary coil; and
and the rectification filter circuit is connected with the secondary coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011529179.1A CN112607020B (en) | 2020-12-22 | 2020-12-22 | Automatic charging system for rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011529179.1A CN112607020B (en) | 2020-12-22 | 2020-12-22 | Automatic charging system for rotor unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112607020A true CN112607020A (en) | 2021-04-06 |
| CN112607020B CN112607020B (en) | 2022-06-17 |
Family
ID=75244083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011529179.1A Active CN112607020B (en) | 2020-12-22 | 2020-12-22 | Automatic charging system for rotor unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112607020B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102044900A (en) * | 2010-11-15 | 2011-05-04 | 西安福安创意咨询有限责任公司 | Automatic alignment charging method for electric vehicle |
| CN106043725A (en) * | 2016-06-30 | 2016-10-26 | 张春生 | Shipborne unmanned plane charging device |
| CN106130113A (en) * | 2016-07-20 | 2016-11-16 | 中国电子科技集团公司第四十八研究所 | A kind of portable rotor wing unmanned aerial vehicle charging device |
| CN108945441A (en) * | 2018-08-01 | 2018-12-07 | 盛世瑶兰（深圳）科技有限公司 | A kind of attracted using magnetic force is automatically aligned to the unmanned plane wired charger for connecing electricity |
| CN208209593U (en) * | 2018-06-01 | 2018-12-07 | 可安信息科技有限公司 | A kind of unmanned plane automatic charge device |
| CN109774935A (en) * | 2019-03-22 | 2019-05-21 | 华能安阳能源有限责任公司 | The patrol unmanned machine of wind power plant and its control system based on wireless charging technology |
| CN111284718A (en) * | 2018-12-10 | 2020-06-16 | 西安思能网络科技有限公司 | Unmanned aerial vehicle descending automatic positioning and fixing charging device |
| CN211592268U (en) * | 2019-06-21 | 2020-09-29 | 天津工业大学 | Unmanned aerial vehicle wireless charging device of self-adaptation location |
-
2020
- 2020-12-22 CN CN202011529179.1A patent/CN112607020B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102044900A (en) * | 2010-11-15 | 2011-05-04 | 西安福安创意咨询有限责任公司 | Automatic alignment charging method for electric vehicle |
| CN106043725A (en) * | 2016-06-30 | 2016-10-26 | 张春生 | Shipborne unmanned plane charging device |
| CN106130113A (en) * | 2016-07-20 | 2016-11-16 | 中国电子科技集团公司第四十八研究所 | A kind of portable rotor wing unmanned aerial vehicle charging device |
| CN208209593U (en) * | 2018-06-01 | 2018-12-07 | 可安信息科技有限公司 | A kind of unmanned plane automatic charge device |
| CN108945441A (en) * | 2018-08-01 | 2018-12-07 | 盛世瑶兰（深圳）科技有限公司 | A kind of attracted using magnetic force is automatically aligned to the unmanned plane wired charger for connecing electricity |
| CN111284718A (en) * | 2018-12-10 | 2020-06-16 | 西安思能网络科技有限公司 | Unmanned aerial vehicle descending automatic positioning and fixing charging device |
| CN109774935A (en) * | 2019-03-22 | 2019-05-21 | 华能安阳能源有限责任公司 | The patrol unmanned machine of wind power plant and its control system based on wireless charging technology |
| CN211592268U (en) * | 2019-06-21 | 2020-09-29 | 天津工业大学 | Unmanned aerial vehicle wireless charging device of self-adaptation location |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112607020B (en) | 2022-06-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101851596B1 (en) | unmanned aerial vehicle and charging station for unmanned aerial vehicle | |
| KR102394878B1 (en) | Drone station device with the function of an automatic taking off and landing and battery charging | |
| CN103612756B (en) | The multi-rotor aerocraft of electric power line inspection and based on its system | |
| CN205168902U (en) | A unmanned vehicles for environment toxic gas detects | |
| CN104494833B (en) | A kind of can the Intelligent flight device system of field automatic charging and charging method thereof | |
| CN205120973U (en) | A unmanned aerial vehicle system for fixing a position nuclear radiation radiation source | |
| CN106715265B (en) | Unmanned vehicle landing platform | |
| CN103365298B (en) | The flight assisting system and method for unmanned vehicle | |
| CN106909169A (en) | A kind of full automatic power patrol UAV system | |
| CN108237934A (en) | Charging station and charging station module | |
| CN104058099A (en) | Unmanned plane electro-optical pod | |
| CN105866626A (en) | Unmanned plane-mounted UV detection system for power transmission and transformation equipment | |
| US20190344888A1 (en) | Device, system and a method for docking a flying apparatus | |
| CN105235912A (en) | Aerial photography collection unmanned aerial vehicle for law enforcement of police fire protection and control method thereof | |
| CN112607020B (en) | Automatic charging system for rotor unmanned aerial vehicle | |
| CN111301701A (en) | Unmanned aerial vehicle charging system, charging station and charging positioning method thereof | |
| CN109658670A (en) | A kind of antenna for base station method for inspecting, device, equipment and the storage medium of unmanned plane | |
| CN106697275A (en) | Automatic early warning type unmanned aerial vehicle for public security | |
| CN113552893A (en) | Air route design method for unmanned aerial vehicle power autonomous inspection, flight method and unmanned aerial vehicle | |
| CN109110154A (en) | A kind of self checking method and its auxiliary device of automatic unmanned plane | |
| CN215340405U (en) | Low-altitude downward-throwing type sonde based on multi-rotor unmanned aerial vehicle | |
| CN103414851B (en) | Region floating monitoring system is determined during long boat | |
| CN203094447U (en) | Unmanned helicopter for power line inspection with inertial navigation platform | |
| KR20180039032A (en) | unmanned aerial vehicle and charging station for unmanned aerial vehicle | |
| CN115617080B (en) | Unmanned aerial vehicle inspection system and method for transformer substation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |