CN114142624A - Unmanned aerial vehicle docking station type wireless charging device and method for wirelessly supplying power to unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle docking station type wireless charging device and method for wirelessly supplying power to unmanned aerial vehicle Download PDFInfo
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- CN114142624A CN114142624A CN202111298036.9A CN202111298036A CN114142624A CN 114142624 A CN114142624 A CN 114142624A CN 202111298036 A CN202111298036 A CN 202111298036A CN 114142624 A CN114142624 A CN 114142624A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000003032 molecular docking Methods 0.000 title abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 238000010248 power generation Methods 0.000 claims abstract description 41
- 230000003287 optical effect Effects 0.000 claims description 55
- 230000005540 biological transmission Effects 0.000 claims description 30
- 230000003014 reinforcing effect Effects 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 16
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 12
- 229910052799 carbon Inorganic materials 0.000 claims description 12
- 239000002131 composite material Substances 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000003491 array Methods 0.000 claims description 2
- 230000000994 depressogenic effect Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S30/40—Arrangements for moving or orienting solar heat collector modules for rotary movement
- F24S30/45—Arrangements for moving or orienting solar heat collector modules for rotary movement with two rotation axes
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- 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
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- 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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
- H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
- Y02E10/56—Power conversion systems, e.g. maximum power point trackers
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
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- Combustion & Propulsion (AREA)
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- General Engineering & Computer Science (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses an unmanned aerial vehicle docking station type wireless charging device and a method for wirelessly supplying power to an unmanned aerial vehicle, wherein the unmanned aerial vehicle docking station type wireless charging device comprises a wireless charging module, a positioning support module and a photovoltaic power generation module; the wireless charging module comprises a plane moving mechanism, a rotating mechanism and a primary coil; the plane moving mechanism drives the rotating mechanism and the primary coil to synchronously translate; the rotating mechanism drives the primary coil to rotate horizontally; the positioning support module comprises a Hall element; the photovoltaic power generation module comprises a photovoltaic power generation panel, a deflection mechanism and a pitching mechanism. According to the invention, the positioning of the unmanned aerial vehicle is realized through Hall elements in a plurality of positioning modules, and after the plane moving mechanism drives the rotating mechanism to move below the secondary coil of the unmanned aerial vehicle, the rotating mechanism drives the primary coil to rotate and the secondary coil to be aligned up and down; and the primary coil is electrified to wirelessly charge the secondary coil. The unmanned aerial vehicle positioning device can accurately position the unmanned aerial vehicle, and accurately realize that the primary coil aligns with the secondary coil to carry out wireless charging; the photovoltaic power generation panel realizes autonomous power supply in the unmanned area.
Description
Technical Field
The invention belongs to the field of wireless charging, relates to unmanned aerial vehicle charging, and particularly relates to an unmanned aerial vehicle docking station type wireless charging device and a method for wirelessly charging an unmanned aerial vehicle and realizing autonomous power supply in an unmanned area.
Background
With the development of society, the unmanned aerial vehicle plays an important role in various fields, and particularly in inspection work, the unmanned aerial vehicle can replace human operation in some extreme environments, so that manpower is liberated to a certain extent; however, because unmanned aerial vehicle continuation of the journey problem, unmanned aerial vehicle patrols and examines the operation at present and still needs the manpower cooperation, accomplishes the operation back or when unmanned aerial vehicle needs the supplementary energy at unmanned aerial vehicle, needs the manpower to drive and releases and retrieve unmanned aerial vehicle to and the replenishment of the energy. Obviously, unmanned aerial vehicle's continuation of the journey problem makes the work efficiency greatly reduced of patrolling and examining undoubtedly, and fails fundamentally liberation manpower. Therefore, need develop one kind and need not the manual work and control, wireless charging device of unmanned aerial vehicle with low costs, efficient to this solves the problem that above-mentioned exists.
Disclosure of Invention
Aiming at the defects of the prior art, the invention designs a device capable of realizing accurate positioning of an unmanned aerial vehicle in an unmanned area and autonomous power storage and supply in the unmanned area and a method for wirelessly supplying power to the unmanned aerial vehicle so as to meet the requirement of electric energy supplement of the inspection unmanned aerial vehicle.
The invention discloses a station type wireless charging device for an unmanned aerial vehicle dock.
The wireless charging module comprises a plane moving mechanism, a rotating mechanism and a primary coil; the plane moving mechanism comprises a sliding block, a sliding rail, a transmission mechanism and a stepping motor; the two slide rails are transversely arranged, and the other slide rail is longitudinally arranged; the two transverse sliding rails and the two sliding blocks respectively form sliding pairs; the longitudinal slide rails are arranged at the upper ends of the two transverse slide rails and are fixed with the slide blocks on the two transverse slide rails; the longitudinally arranged slide rail and the other slide block form a slide pair; each sliding block is connected with a transmission mechanism; the transmission mechanisms on the two transverse sliding rails are connected through a transmission shaft, and the transmission shaft is driven by a stepping motor; the transmission mechanism on the longitudinally-arranged slide rail is directly driven by another stepping motor; the rotating mechanism comprises a steering engine bracket, a steering engine, a coded disc and a coil bracket; the steering engine bracket is fixed on a sliding block on the longitudinally-arranged sliding rail; the base of the steering engine is fixed on the steering engine bracket; the coded disc is fixed with an output shaft of the steering engine; the coil bracket is fixed on the code disc; the primary coil is fixed on the coil bracket; the primary coil is connected with the storage battery through the direct current-alternating current converter, and the primary coil is electrically connected with the main controller.
The positioning support module comprises a carbon plate plane, a support frame, a positioning module and reinforcing ribs; the top surface of the supporting frame is provided with a plurality of reinforcing ribs which are arranged in a staggered manner in the transverse and longitudinal directions; both ends of the reinforcing rib are fixedly connected with the supporting frame through reinforcing rib corner pieces; all the reinforcing ribs are divided into a plurality of positioning areas, and each positioning area is internally provided with a positioning module which comprises a circuit board and a Hall element; the circuit board is fixed on the reinforcing ribs; the Hall element arrays are fixed on the circuit board, and all Hall elements are electrically connected with the circuit board; the circuit board of each positioning module is electrically connected with the main controller; the carbon plate plane is arranged above each positioning module and is fixed with the supporting frame.
The photovoltaic power generation module comprises a photovoltaic power generation plate, a deflection mechanism and a pitching mechanism; the pitching mechanism comprises a first optical axis, a push rod motor, a first section fixing piece, a second section fixing piece, a first hinged support, a second hinged support, a third hinged support, a fourth hinged support and a third section fixing piece; the shell of the push rod motor, the second hinged support fixed at one end of the first section bar fixing piece and one of the first hinged supports are hinged through the first optical axis to form a composite hinge; the push rod head is fixed on a motor push rod of the push rod motor and forms a composite hinge with a hinge support III fixed at one end of one section fixing piece II and a hinge support IV fixed at one end of the other section fixing piece II; the hinged support III fixed at the other end of one of the profile fixing pieces is hinged with the hinged support II fixed at the other end of the profile fixing piece; the hinged support IV fixed at the other end of the other section bar fixing piece II is hinged with the other hinged support I; and the first two hinged supports are fixed on the third section fixing piece.
The deflection mechanism comprises an optical axis fixing seat, a section bar fixing part IV, a bearing seat mounting plate, a cylindrical gear I, a cylindrical gear II, a section bar fixing part V, an optical axis II, an optical axis III and a deflection motor; the photovoltaic power generation board is fixed on the four section fixing pieces, and the electric energy output end of the photovoltaic power generation board is connected with the storage battery; the two ends of the optical axis III and the two profile fixing pieces IV are respectively fixed through optical axis fixing seats, and the optical axis III and the two bearing seats I respectively form a rotating pair; two sides of the first bearing seat are fixed on the two section fixing pieces V; the profile fixing piece V and the profile fixing piece VII are fixed through a deflection motor bracket; the bearing seat mounting plate is fixed on the section bar fixing piece seventh; the two second bearing blocks are fixed on the bearing block mounting plate; the second cylindrical gear is fixed on the second optical axis; the second optical shaft and the second bearing blocks form a revolute pair, and one end of the second optical shaft is connected with an output shaft of the deflection motor through a first coupler; the base of the deflection motor is fixed on the deflection motor bracket; the first cylindrical gear is fixed on the third optical axis and is meshed with the second cylindrical gear; and the section fixing piece seven and the two section fixing pieces five are fixed on the section fixing piece one through the section fixing piece six.
Preferably, the transmission mechanism comprises a synchronous pulley and a synchronous belt; two synchronous belt wheels hinged at two ends of the transverse sliding rail or the longitudinal sliding rail are connected through a synchronous belt; synchronous belt pulleys at the same ends of the two transverse sliding rails are fixed on the transmission shaft; the transmission shaft is connected with an output shaft of a stepping motor fixed on one of the transverse sliding rails through a second coupling; one synchronous belt wheel hinged on the longitudinal slide rail is connected with an output shaft of the stepping motor fixed on the longitudinal slide rail through another coupling II; the base of the stepping motor is fixed on the longitudinal or transverse sliding rail through a stepping motor bracket.
Preferably, both ends of each slide rail are fixed with slide rail terminals.
Preferably, the carbon plate plane of the positioning support module is obliquely arranged.
Preferably, the stepping motor, the steering engine, the deflection motor and the push rod motor are all controlled by a main controller; the main controller is powered by a storage battery, and the storage battery is powered by a photovoltaic power generation module.
Preferably, the photovoltaic power generation module is provided with a plurality of photovoltaic power generation modules.
Preferably, the shell of the push rod motor is fixed with the first optical shaft, one end of the first optical shaft is supported on the first hinge support through two deep groove ball bearings, and the other end of the first optical shaft is supported on the second hinge support through two deep groove ball bearings; and a shaft sleeve is arranged between the two deep groove ball bearings at the two ends of the optical axis close to the push rod motor and the shell of the push rod motor, between the two deep groove ball bearings at each end of the optical axis, and between the two split retaining rings at the two ends of the optical axis and the deep groove ball bearings adjacent to the corresponding ends.
The invention discloses a method for wirelessly supplying power to an unmanned aerial vehicle by a station-type wireless charging device of an unmanned aerial vehicle dock, which comprises the following steps:
the unmanned aerial vehicle to be charged is roughly positioned through self-carried Beidou navigation positioning and lands on a carbon plate plane, two permanent magnets carried at two ends of a secondary coil of the unmanned aerial vehicle are respectively identified by a plurality of Hall elements of a positioning module under the unmanned aerial vehicle, a main controller determines the specific positions of the two permanent magnets according to identification signals transmitted by the Hall elements, and the orientation of the secondary coil is judged according to the positions of the two permanent magnets; then, the main controller controls the stepping motors on the two transverse sliding rails and the stepping motors on the longitudinal sliding rails to be started, each stepping motor drives the corresponding sliding block to move through the transmission mechanism, so that the longitudinal sliding rails move along the two transverse sliding rails, the rotating mechanism and the primary coil synchronously move along the longitudinal sliding rails, the primary coil is positioned at the position of the unmanned aerial vehicle, the primary coil is positioned below the secondary coil of the unmanned aerial vehicle to be charged, and then a steering engine in the rotating mechanism drives the primary coil to horizontally rotate, so that the primary coil and the secondary coil are in the same orientation and are aligned up and down; then, the primary coil is energized to wirelessly charge the secondary coil.
Preferably, the positioning module detects that the unmanned aerial vehicle flies away, and the main controller controls the stepping motor to drive the rotating mechanism and the primary coil to return to the initial position.
Preferably, the autonomous power supply is realized through the photovoltaic power generation module in the unmanned area, and the specific process is as follows:
firstly, the upper computer sends geographical position information to the main controller, and the main controller regulates and controls the deflection mechanism and the pitching mechanism according to the position of the sun at different times of geographical position, so that the photovoltaic power generation panel can be kept perpendicular to the sun at different times of time;
and secondly, the photovoltaic power generation panel absorbs and converts the solar rays, so that the solar energy is converted into electric energy and transmitted to a storage battery for storage.
The invention has the beneficial effects that:
1. according to the invention, the positioning of the unmanned aerial vehicle is realized through Hall elements in a plurality of positioning modules, the plane moving mechanism drives the rotating mechanism to transversely and longitudinally move to the position below the secondary coil of the unmanned aerial vehicle, and the steering engine in the rotating mechanism drives the primary coil to horizontally rotate, so that the primary coil and the secondary coil are vertically aligned; then, the primary coil is electrified to wirelessly charge the secondary coil, so that the unmanned aerial vehicle can be accurately positioned, and the primary coil is accurately aligned with the secondary coil to wirelessly charge.
2. According to the invention, solar energy is collected, converted and stored through the photovoltaic power generation panel, so that the storage battery can realize autonomous power supply in an unmanned area without external power supply; moreover, the angle of the photovoltaic power generation panel can be adjusted according to the solar direction, so that the photovoltaic power generation panel is kept perpendicular to the sunlight all the time, the power generation efficiency of the photovoltaic power generation panel is improved, the electric energy of the storage battery is sufficient, and the electric energy can be provided for the unmanned aerial vehicle with universality in an unmanned area through a wireless charging mode.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2, 3, 4 and 5 are four schematic structural diagrams of the wireless charging module according to the present invention;
FIG. 6 is a schematic view of the structure of the primary coil and the rotating mechanism of the present invention;
FIG. 7 is a schematic structural view of a positioning support module according to the present invention;
FIG. 8 is an enlarged view of a portion of the positioning module of the present invention;
FIG. 9 is a schematic structural view of a photovoltaic power generation module according to the present invention;
FIG. 10 is a schematic view of the structure of the deflection mechanism of the present invention;
FIG. 11 is an enlarged partial schematic view of the deflection mechanism of the present invention;
FIG. 12 is an assembled perspective view of the push rod motor and the first optical axis of the present invention;
fig. 13 is a schematic structural view of a pitch mechanism according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1, the wireless charger for the docking station of the unmanned aerial vehicle includes a wireless charging module 1, a positioning support module 2 and a photovoltaic power generation module 3.
As shown in fig. 2, the wireless charging module 1 includes a planar moving mechanism 1-1, a rotating mechanism 1-2 and a primary coil 1-3; as shown in fig. 3, 4 and 5, the plane moving mechanism 1-1 comprises a slide block 1-1-1, a slide rail 1-1-2, a transmission mechanism and a stepping motor 1-1-7; the two sliding rails 1-1-2 are transversely arranged, and the other sliding rail 1-1-2 is longitudinally arranged; the bottom of the transverse sliding rail 1-1-2 is fixed with the ground feet 1-1-5, and the ground feet 1-1-5 are fixed with the ground; the two transverse sliding rails and the two sliding blocks 1-1-1 respectively form a sliding pair; the longitudinal slide rails are arranged at the upper ends of the two transverse slide rails and are fixed with the slide blocks 1-1-1 on the two transverse slide rails; the longitudinally arranged slide rail and the other slide block 1-1-1 form a slide pair; each sliding block 1-1-1 is connected with a transmission mechanism; the transmission mechanisms on the two transverse sliding rails 1-1-2 are connected through transmission shafts 1-1-9, and the transmission shafts 1-1-9 are driven by a stepping motor 1-1-7; the transmission mechanism on the longitudinally-arranged slide rail 1-1-2 is directly driven by another stepping motor 1-1-7; as shown in fig. 6, the rotating mechanism 1-2 comprises a steering engine bracket 1-2-1, a steering engine 1-2-2, a code wheel 1-2-3 and a coil bracket 1-2-4; a steering engine bracket 1-2-1 is fixed on a sliding block 1-1-1 on the longitudinally arranged sliding rail; a base of the steering engine 1-2-2 is fixed on the steering engine bracket 1-2-1; the coded disc 1-2-3 is fixed with an output shaft of the steering engine 1-2-2; the coil support 1-2-4 is fixed on the code disc 1-2-3; a primary coil 1-3 is fixed on a coil bracket 1-2-4; the primary side coils 1-3 are connected with the storage battery through the direct current and alternating current converter, the primary side coils are electrically connected with the main controller, the main controller controls the on-off of the primary side coils 1-3, and the direct current and alternating current converter converts direct current of the storage battery into alternating current and then transmits the alternating current to the primary side coils 1-3.
As shown in fig. 7 and 8, the positioning support module 2 comprises a carbon plate plane 2-1, a support frame 2-2, a positioning module 2-3 and a reinforcing rib 2-4; the supporting frame 2-2 is fixed on the ground; the top surface of the supporting frame 2-2 is provided with a plurality of reinforcing ribs 2-4 which are arranged in a transverse and longitudinal staggered manner; both ends of the reinforcing rib 2-4 are fixedly connected with the supporting frame 2-2 through reinforcing rib corner fittings 2-5; a plurality of positioning areas are separated from all the reinforcing ribs 2-4, each positioning area is internally provided with a positioning module 2-3, and each positioning module 2-3 comprises a circuit board and a Hall element 2-3-4; the circuit board is fixed on the reinforcing ribs 2-4; the Hall elements 2-3-4 are fixed on the circuit board in an array manner, and each Hall element 2-3-4 is electrically connected with the circuit board; the circuit board of each positioning module 2-3 is electrically connected with the main controller; the carbon plate plane 2-1 is arranged above each positioning module 2-3 and is fixed with the supporting frame 2-2; in the embodiment, the circuit board is fixed with the copper columns 2-3-5, and the circuit board is divided into a first circuit board 2-3-1, a second circuit board 2-3-2 and a third circuit board 2-3-3 with different sizes so as to adapt to different areas of different positioning areas.
As shown in fig. 9, the photovoltaic power generation module 3 includes a photovoltaic power generation panel 3-1-1, a yaw mechanism 3-1, and a pitch mechanism 3-2; as shown in fig. 12 and 13, the pitching mechanism 3-2 comprises a first optical axis 3-2-3, a push rod motor 3-2-4, a first profile fixing piece 3-2-8, a second profile fixing piece 3-2-9, a first hinged support 3-2-10, a second hinged support 3-2-11, a third hinged support 3-2-12, a fourth hinged support 3-2-13 and a third profile fixing piece 3-2-14; the shell of the push rod motor 3-2-4, the hinged support II 3-2-11 fixed at one end of the profile fixing piece I3-2-8 and one hinged support I3-2-10 are hinged through the optical axis I3-2-3 to form a composite hinge; the push rod head 3-2-6 is fixed on a motor push rod 3-2-5 of the push rod motor 3-2-4, and forms a composite hinge with a hinged support III 3-2-12 fixed at one end of one section fixing part II 3-2-9 and a hinged support IV 3-2-13 fixed at one end of the other section fixing part II 3-2-9; the hinged support III 3-2-12 fixed at the other end of one of the profile fixing pieces II 3-2-9 is hinged with the hinged support II 3-2-11 fixed at the other end of one of the profile fixing pieces I3-2-8; a hinged support IV 3-2-13 fixed at the other end of the other section bar fixing piece II 3-2-9 is hinged with the other hinged support I3-2-10; the two hinged supports I3-2-10 are both fixed on the section bar fixing piece III 3-2-14; the section bar fixing piece III 3-2-14 is fixed on the ground.
As shown in fig. 10 and 11, the deflection mechanism 3-1 comprises an optical axis fixing seat 3-1-2, a profile fixing member four 3-1-3, a bearing seat mounting plate 3-1-4, a cylindrical gear one 3-1-5, a cylindrical gear two 3-1-6, a profile fixing member five 3-1-7, an optical axis two 3-1-10, an optical axis three 3-1-11 and a deflection motor 3-1-15; the photovoltaic power generation board 3-1-1 is fixed on the two section bar fixing pieces four 3-1-3, and the electric energy output end of the photovoltaic power generation board 3-1-1 is connected with a storage battery; two ends of the optical axis III 3-1-11 and the two section bar fixing pieces IV 3-1-3 are respectively fixed through optical axis fixing seats 3-1-2, and the optical axis III 3-1-11 and the two bearing seats I3-1-12 respectively form a revolute pair; two sides of the bearing seat I3-1-12 are fixed on two profile fixing pieces V3-1-7; the section bar fixing piece five 3-1-7 and the section bar fixing piece seven 3-1-9 are fixed through a deflection motor bracket 3-1-16; the bearing seat mounting plate 3-1-4 is fixed on the section bar fixing piece seven 3-1-9; the two bearing blocks II 3-1-13 are fixed on the bearing block mounting plates 3-1-4; a second cylindrical gear 3-1-6 is fixed on the second optical axis 3-1-10; the optical axis II 3-1-10 and the two bearing blocks II 3-1-13 form a revolute pair, and one end of the optical axis II 3-1-10 is connected with an output shaft of the deflection motor 3-1-15 through a coupling I3-1-14; the base of the deflection motor 3-1-15 is fixed on the deflection motor bracket 3-1-16; the cylindrical gear I3-1-5 is fixed on the optical axis III 3-1-11 and is meshed with the cylindrical gear II 3-1-6; the section fixing member seven 3-1-9 and the two section fixing members five 3-1-7 are fixed on the section fixing member one 3-2-8 through the section fixing member six 3-1-8, and the section corner member 3-3 is fixed between the section fixing member six 3-1-8 and the section fixing member one 3-2-8.
As a preferred embodiment, as shown in fig. 3, 4 and 5, the transmission mechanism includes a timing pulley and a timing belt 1-1-4; two synchronous belt wheels hinged at two ends of the transverse sliding rail 1-1-2 or the longitudinal sliding rail 1-1-2 are connected through a synchronous belt 1-1-4; a synchronous belt wheel at one end of the transverse sliding rail 1-1-2 is fixed on the transmission shaft 1-1-9; the transmission shaft 1-1-9 is connected with an output shaft of a stepping motor 1-1-7 fixed on one of the transverse sliding rails 1-1-2 through a coupler II 1-1-6; one synchronous belt wheel hinged on the longitudinal slide rail 1-1-2 is connected with an output shaft of a stepping motor 1-1-7 fixed on the longitudinal slide rail 1-1-2 through another shaft coupling II 1-1-6; the base of the stepping motor 1-1-7 is fixed on a longitudinal or transverse sliding rail 1-1-2 through a stepping motor bracket 1-1-8.
As a preferred embodiment, as shown in fig. 3, 4 and 5, each of the slide rails 1-1-2 has a slide rail terminal 1-1-3 fixed to both ends thereof.
As a preferred embodiment, the carbon plate plane 2-1 of the positioning support module 2 is arranged obliquely to ensure that rain water and dew do not accumulate on the surface.
As a more preferred embodiment, the stepping motor 1-1-7, the steering engine 1-2-2, the deflection motor 3-1-15 and the push rod motor 3-2-4 are all controlled by a main controller; the main controller is powered by a storage battery, and the storage battery is powered by the photovoltaic power generation module 3.
As a preferred embodiment, as shown in fig. 1, the photovoltaic power generation module 3 is provided in plurality.
As a preferred embodiment, as shown in fig. 12 and 13, the housing of the push rod motor 3-2-4 is fixed to the optical axis one 3-2-3, one end of the optical axis one 3-2-3 is supported on the hinge support one 3-2-10 through two deep groove ball bearings 3-2-1, and the other end of the optical axis one 3-2-3 is supported on the hinge support two 3-2-11 through two deep groove ball bearings 3-2-1; and a shaft sleeve 3-2-7 is arranged between two deep groove ball bearings 3-2-1 at two ends of the optical axis I3-2-3, which are close to the push rod motor 3-2-4, and a shell of the push rod motor 3-2-4, between two deep groove ball bearings 3-2-1 at each end of the optical axis I3-2-3, and between two split retainer rings 3-2-2 at two ends of the optical axis I3-2-3 and the deep groove ball bearings 3-2-1 adjacent to the corresponding ends.
The invention discloses a method for wirelessly supplying power to an unmanned aerial vehicle by a station-type wireless charging device of an unmanned aerial vehicle dock, which comprises the following steps:
the unmanned aerial vehicle to be charged is roughly positioned through Beidou navigation positioning carried by the unmanned aerial vehicle to stably land on a carbon plate plane 2-1, at the moment, two permanent magnets carried at two ends of a secondary coil of the unmanned aerial vehicle are respectively identified by a plurality of Hall elements 2-3-4 of a positioning module 2-3 under the unmanned aerial vehicle, a main controller determines the specific positions of the two permanent magnets (each permanent magnet can determine the position of the permanent magnet through the strength of signals of the Hall elements 2-3-4) according to identification signals transmitted by the Hall elements 2-3-4, and the orientation of the secondary coil is judged according to the positions of the two permanent magnets; then, the main controller controls the stepping motors 1-1-7 on the two transverse sliding rails and the stepping motors 1-1-7 on the longitudinal sliding rails to be started, each stepping motor 1-1-7 drives the corresponding sliding block 1-1-1 to move through a transmission mechanism, so that the longitudinal sliding rails move along the two transverse sliding rails, the rotating mechanisms 1-2 and the primary coils 1-3 synchronously move along the longitudinal sliding rails, the primary coils 1-3 are positioned at the positions of the unmanned aerial vehicle, the primary coils 1-3 are positioned below secondary coils of the unmanned aerial vehicle to be charged, and then the steering engines in the rotating mechanisms drive the primary coils to rotate horizontally, so that the primary coils 1-3 and the secondary coils face the same direction and are aligned up and down; then, electrifying the primary coil 1-3, and wirelessly charging the secondary coil; and when the unmanned aerial vehicle finishes charging, taking off and continuously executing the task.
As a preferred embodiment, the positioning module 2-3 detects that the unmanned aerial vehicle flies away, and the main controller controls the stepping motor 1-1-7 to drive the rotating mechanism 1-2 and the primary coil 1-3 to return to the initial position.
As a preferred embodiment, the autonomous power supply is realized through the photovoltaic power generation module 3 in the unmanned area, and the specific process is as follows:
firstly, the upper computer sends geographical position information to the main controller, and the main controller regulates and controls the deflection mechanism 3-1 and the pitching mechanism 3-2 according to the position of the sun at different times of geographical positions, so that the photovoltaic power generation panel 3-1-1 can be kept perpendicular to the sun rays at different times of time;
and secondly, the photovoltaic power generation panel 3-1-1 absorbs and converts the solar rays, so that the solar energy is converted into electric energy and transmitted to a storage battery for storage.
Claims (10)
1. Unmanned aerial vehicle depressed place station formula wireless charging device, including wireless charging module, its characterized in that: the photovoltaic power generation device also comprises a positioning support module and a photovoltaic power generation module; the wireless charging module comprises a plane moving mechanism, a rotating mechanism and a primary coil; the plane moving mechanism comprises a sliding block, a sliding rail, a transmission mechanism and a stepping motor; the two slide rails are transversely arranged, and the other slide rail is longitudinally arranged; the two transverse sliding rails and the two sliding blocks respectively form sliding pairs; the longitudinal slide rails are arranged at the upper ends of the two transverse slide rails and are fixed with the slide blocks on the two transverse slide rails; the longitudinally arranged slide rail and the other slide block form a slide pair; each sliding block is connected with a transmission mechanism; the transmission mechanisms on the two transverse sliding rails are connected through a transmission shaft, and the transmission shaft is driven by a stepping motor; the transmission mechanism on the longitudinally-arranged slide rail is directly driven by another stepping motor; the rotating mechanism comprises a steering engine bracket, a steering engine, a coded disc and a coil bracket; the steering engine bracket is fixed on a sliding block on the longitudinally-arranged sliding rail; the base of the steering engine is fixed on the steering engine bracket; the coded disc is fixed with an output shaft of the steering engine; the coil bracket is fixed on the code disc; the primary coil is fixed on the coil bracket; the primary coil is connected with the storage battery through the direct current-alternating current converter and is electrically connected with the main controller;
the positioning support module comprises a carbon plate plane, a support frame, a positioning module and reinforcing ribs; the method is characterized in that: the top surface of the supporting frame is provided with a plurality of reinforcing ribs which are arranged in a staggered manner in the transverse and longitudinal directions; both ends of the reinforcing rib are fixedly connected with the supporting frame through reinforcing rib corner pieces; all the reinforcing ribs are divided into a plurality of positioning areas, and each positioning area is internally provided with a positioning module which comprises a circuit board and a Hall element; the circuit board is fixed on the reinforcing ribs; the Hall element arrays are fixed on the circuit board, and all Hall elements are electrically connected with the circuit board; the circuit board of each positioning module is electrically connected with the main controller; the carbon plate plane is arranged above each positioning module and is fixed with the support frame;
the photovoltaic power generation module comprises a photovoltaic power generation plate, a deflection mechanism and a pitching mechanism; the pitching mechanism comprises a first optical axis, a push rod motor, a first section fixing piece, a second section fixing piece, a first hinged support, a second hinged support, a third hinged support, a fourth hinged support and a third section fixing piece; the method is characterized in that: the shell of the push rod motor, the second hinged support fixed at one end of the first section bar fixing piece and one of the first hinged supports are hinged through the first optical axis to form a composite hinge; the push rod head is fixed on a motor push rod of the push rod motor and forms a composite hinge with a hinge support III fixed at one end of one section fixing piece II and a hinge support IV fixed at one end of the other section fixing piece II; the hinged support III fixed at the other end of one of the profile fixing pieces is hinged with the hinged support II fixed at the other end of the profile fixing piece; the hinged support IV fixed at the other end of the other section bar fixing piece II is hinged with the other hinged support I; the two hinged supports I are fixed on the section fixing piece III;
the deflection mechanism comprises an optical axis fixing seat, a section bar fixing part IV, a bearing seat mounting plate, a cylindrical gear I, a cylindrical gear II, a section bar fixing part V, an optical axis II, an optical axis III and a deflection motor; the method is characterized in that: the photovoltaic power generation board is fixed on the four section fixing pieces, and the electric energy output end of the photovoltaic power generation board is connected with the storage battery; the two ends of the optical axis III and the two profile fixing pieces IV are respectively fixed through optical axis fixing seats, and the optical axis III and the two bearing seats I respectively form a rotating pair; two sides of the first bearing seat are fixed on the two section fixing pieces V; the profile fixing piece V and the profile fixing piece VII are fixed through a deflection motor bracket; the bearing seat mounting plate is fixed on the section bar fixing piece seventh; the two second bearing blocks are fixed on the bearing block mounting plate; the second cylindrical gear is fixed on the second optical axis; the second optical shaft and the second bearing blocks form a revolute pair, and one end of the second optical shaft is connected with an output shaft of the deflection motor through a first coupler; the base of the deflection motor is fixed on the deflection motor bracket; the first cylindrical gear is fixed on the third optical axis and is meshed with the second cylindrical gear; and the section fixing piece seven and the two section fixing pieces five are fixed on the section fixing piece one through the section fixing piece six.
2. The unmanned dock station-based wireless charging device of claim 1, wherein: the transmission mechanism comprises a synchronous belt wheel and a synchronous belt; two synchronous belt wheels hinged at two ends of the transverse sliding rail or the longitudinal sliding rail are connected through a synchronous belt; synchronous belt pulleys at the same ends of the two transverse sliding rails are fixed on the transmission shaft; the transmission shaft is connected with an output shaft of a stepping motor fixed on one of the transverse sliding rails through a second coupling; one synchronous belt wheel hinged on the longitudinal slide rail is connected with an output shaft of the stepping motor fixed on the longitudinal slide rail through another coupling II; the base of the stepping motor is fixed on the longitudinal or transverse sliding rail through a stepping motor bracket.
3. The unmanned dock station-based wireless charging device of claim 1, wherein: and slide rail terminals are fixed at two ends of each slide rail.
4. The unmanned dock station-based wireless charging device of claim 1, wherein: the carbon plate plane of the positioning support module is obliquely arranged.
5. The unmanned dock station-based wireless charging device of claim 1, wherein: the stepping motor, the steering engine, the deflection motor and the push rod motor are all controlled by a main controller; the main controller is powered by a storage battery, and the storage battery is powered by a photovoltaic power generation module.
6. The unmanned dock station-based wireless charging device of claim 1, wherein: the photovoltaic power generation module is provided with a plurality of modules.
7. The unmanned dock station-based wireless charging device of claim 1, wherein: the shell of the push rod motor is fixed with the first optical shaft, one end of the first optical shaft is supported on the first hinged support through two deep groove ball bearings, and the other end of the first optical shaft is supported on the second hinged support through two deep groove ball bearings; and a shaft sleeve is arranged between the two deep groove ball bearings at the two ends of the optical axis close to the push rod motor and the shell of the push rod motor, between the two deep groove ball bearings at each end of the optical axis, and between the two split retaining rings at the two ends of the optical axis and the deep groove ball bearings adjacent to the corresponding ends.
8. The method of any of claims 1-7, wherein the wireless charging device wirelessly powers a drone, and wherein: the method comprises the following specific steps:
the unmanned aerial vehicle to be charged is roughly positioned through self-carried Beidou navigation positioning and lands on a carbon plate plane, two permanent magnets carried at two ends of a secondary coil of the unmanned aerial vehicle are respectively identified by a plurality of Hall elements of a positioning module under the unmanned aerial vehicle, a main controller determines the specific positions of the two permanent magnets according to identification signals transmitted by the Hall elements, and the orientation of the secondary coil is judged according to the positions of the two permanent magnets; then, the main controller controls the stepping motors on the two transverse sliding rails and the stepping motors on the longitudinal sliding rails to be started, each stepping motor drives the corresponding sliding block to move through the transmission mechanism, so that the longitudinal sliding rails move along the two transverse sliding rails, the rotating mechanism and the primary coil synchronously move along the longitudinal sliding rails, the primary coil is positioned at the position of the unmanned aerial vehicle, the primary coil is positioned below the secondary coil of the unmanned aerial vehicle to be charged, and then a steering engine in the rotating mechanism drives the primary coil to horizontally rotate, so that the primary coil and the secondary coil are in the same orientation and are aligned up and down; then, the primary coil is energized to wirelessly charge the secondary coil.
9. The method of claim 8, wherein the wireless charging device wirelessly powers the drone, and wherein: the positioning module detects that the unmanned aerial vehicle flies away, and the main controller controls the stepping motor to drive the rotating mechanism and the primary coil to return to the initial position.
10. The method of claim 8, wherein the wireless charging device wirelessly powers the drone, and wherein: the process of realizing autonomous power supply through the photovoltaic power generation module in the unmanned area is as follows:
firstly, the upper computer sends geographical position information to the main controller, and the main controller regulates and controls the deflection mechanism and the pitching mechanism according to the position of the sun at different times of geographical position, so that the photovoltaic power generation panel can be kept perpendicular to the sun at different times of time;
and secondly, the photovoltaic power generation panel absorbs and converts the solar rays, so that the solar energy is converted into electric energy and transmitted to a storage battery for storage.
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| CN202111298036.9A CN114142624B (en) | 2021-11-04 | 2021-11-04 | Unmanned aerial vehicle docking station type wireless charging device and method for wireless power supply of unmanned aerial vehicle |
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| CN202111298036.9A CN114142624B (en) | 2021-11-04 | 2021-11-04 | Unmanned aerial vehicle docking station type wireless charging device and method for wireless power supply of unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023220877A1 (en) * | 2022-05-16 | 2023-11-23 | 北京小米机器人技术有限公司 | Wireless charger, rechargeable device, combined system, and adjustment method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107093980A (en) * | 2017-05-05 | 2017-08-25 | 南通大学 | Adjustable photovoltaic bracket device |
| CN113246778A (en) * | 2021-05-24 | 2021-08-13 | 武汉理工大学 | Unmanned aerial vehicle wireless charging system and charging method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107093980A (en) * | 2017-05-05 | 2017-08-25 | 南通大学 | Adjustable photovoltaic bracket device |
| CN113246778A (en) * | 2021-05-24 | 2021-08-13 | 武汉理工大学 | Unmanned aerial vehicle wireless charging system and charging method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023220877A1 (en) * | 2022-05-16 | 2023-11-23 | 北京小米机器人技术有限公司 | Wireless charger, rechargeable device, combined system, and adjustment method |
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