KR20170078434A - Unmanned aerial vehicle device charge by electric wire and charging method thereof - Google Patents
Unmanned aerial vehicle device charge by electric wire and charging method thereof Download PDFInfo
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- KR20170078434A KR20170078434A KR1020150188950A KR20150188950A KR20170078434A KR 20170078434 A KR20170078434 A KR 20170078434A KR 1020150188950 A KR1020150188950 A KR 1020150188950A KR 20150188950 A KR20150188950 A KR 20150188950A KR 20170078434 A KR20170078434 A KR 20170078434A
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- Prior art keywords
- power line
- charging
- coupling
- power
- aerial vehicle
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000010168 coupling process Methods 0.000 claims abstract description 115
- 230000008878 coupling Effects 0.000 claims abstract description 113
- 238000005859 coupling reaction Methods 0.000 claims abstract description 113
- 230000005674 electromagnetic induction Effects 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 3
- 230000008030 elimination Effects 0.000 claims description 2
- 238000003379 elimination reaction Methods 0.000 claims description 2
- 206010000210 abortion Diseases 0.000 claims 1
- 231100000176 abortion Toxicity 0.000 claims 1
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 230000001939 inductive effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007885 magnetic separation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- 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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- H02J7/025—
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- B64C2201/066—
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- B64D2700/62184—
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
A power line charging unmanned flight device and a charging method are provided. A power line charging unmanned aerial vehicle according to an embodiment of the present invention includes a charging unit coupled to a power line to generate electric power required for charging using electromagnetic induction; A charging controller for periodically measuring the remaining battery power of the unmanned aerial vehicle to send a charging request signal when charging is required and sending a charging stop signal when charging is completed; And a coupling auxiliary unit for receiving the charging request signal to search for the position of the power line and assisting the coupling of the power line and the charging unit.
Description
The present invention relates to a power line charging type unmanned airplane device and a charging method thereof, and more particularly, to an unmanned airplane device and a charging method thereof, in which an unmanned airplane device is powered by a power line during a flight, ≪ / RTI >
Generally, unmanned aerial vehicles (UAVs) that use electricity are flying by using the power of a battery, and it is possible to fly various patterns by using the AI or the user's operation or the built-in AI, , Industrial use, environmental monitoring, and disaster recovery. Such an unmanned aerial vehicle can stop the operation of the battery when the battery is exhausted, and return to the ground to re-fly by replacing or charging the battery. However, in this case, utilization time and flight radius are significantly reduced, thereby limiting the use of unmanned aerial vehicles.
Accordingly, in order to solve the restriction of the unmanned aerial vehicle, it is necessary to control the operation of a plurality of wireless charging stations and wireless charging stations including a dron and a charging pad including a wireless rechargeable battery so that the drones can land on the wireless charging station and charge the battery power. A dron wireless charging system is disclosed in Korean Patent No. 10-1564254.
However, such a system has a problem that the radius and the flight time of the drones in the area where the wireless charging station is not installed are still limited, and the additional cost for installing the wireless charging station occurs.
In order to solve the problems of the related art as described above, one embodiment of the present invention is a method for controlling a flight of an unmanned aerial vehicle by receiving power from a cable through which a current such as a power line flows, The power line charging method, the unmanned flying device, and the charging method.
In addition, one embodiment of the present invention is a power line charging type unmanned aerial vehicle and charging method in which additional cost for charging is not generated by using an existing power line without installing an additional device for charging in the flight path of the unmanned airplane .
According to an aspect of the present invention, a power line charging unmanned aerial vehicle is provided. The power line charging unmanned flight device includes a charging unit coupled to a power line to generate electric power required for charging using electromagnetic induction; A charging controller for periodically measuring the remaining battery power of the unmanned aerial vehicle to send a charging request signal when charging is required and sending a charging stop signal when charging is completed; And a coupling auxiliary unit for receiving the charging request signal to search for the position of the power line and assisting the coupling of the power line and the charging unit.
The charging unit includes: a power line coupling member for coupling with the power line; A current transformer embedded in the power line coupling member and including a magnetic core and a coil for generating electric power using electromagnetic induction; And a measurement module including at least one of a distance sensor and a camera for measuring a distance to the power line.
The measurement module may be arranged perpendicular to the center axis of the through hole formed in the power line coupling member to obtain a distance value with respect to the power line.
Wherein the coupling sub-unit comprises: a power line search module for acquiring the charge request signal and searching for the position of the power line for the closest charging; And a coupling control module for controlling coupling of the power line coupling member with the power line.
Wherein the coupling control module opens the through hole when the measurement value of the measurement module is equal to or less than a predetermined first distance value when the charge request signal is acquired and closes the through hole when the measurement value reaches the second distance value .
The coupling control module may open the through hole when the charge stop signal is acquired and close the through hole when the measurement value of the measurement module is equal to or greater than the first distance value.
The coupling control module may further include a magnetic eliminator, and the coupling with the power line may be controlled by performing the magnetic field elimination or the disconnection of the magnetic core by using the magnetic demagnetizer.
According to an aspect of the present invention, a charging method of a power line charging unmanned aerial vehicle is provided. The charging method of the power line charging unmanned aerial vehicle includes the steps of: a) checking the remaining battery power of the unmanned aerial vehicle; b) determining a position of the power line, which is a charging position of the unmanned airplane, if the battery power remaining amount is determined as a remaining amount requiring charging; c) performing charging of the battery in combination with a power line at the determined location; And d) determining that charging of the battery is completed when the battery power remaining amount is determined to be the remaining charged amount.
The step a) may further include the step of repeating the step a) if the battery power remaining amount is larger than the remaining amount required for the charging.
In the step b), a power line closest to the unmanned aerial vehicle may be determined as the charging position.
The step c) may be performed in conjunction with the power line to charge the battery using the inductive power generated from the magnetic field generated in the power line.
The step d) may repeat the step c) if the remaining power of the battery is smaller than the remaining charge.
The power line charging type UAV and charging method according to an embodiment of the present invention is not limited by the flight time and flying radius of the unmanned aerial vehicle by receiving electric power from a power line through which a pre- have.
In addition, the power line charging unmanned aerial vehicle charging method and charging method according to an embodiment of the present invention is characterized in that an additional cost for charging a battery by receiving power from a power line through which a current such as a power line is installed, There is an effect that does not occur.
1 is a view schematically showing a power line charging unmanned aerial vehicle according to an embodiment of the present invention.
2 is a block diagram of a power line charging unmanned aerial vehicle according to an embodiment of the present invention, b) a live part, and c) a live part.
FIG. 3 is a view showing a charging part including a) a power line coupling member in a rotation type and b) a power line coupling member in a sliding type of the power line charging unmanned aerial vehicle according to the embodiment of the present invention.
FIG. 4 is a diagram illustrating a process of coupling a power line coupling member of a) and a power line of a sliding type power line coupling member of a power line charging unmanned aerial vehicle according to an embodiment of the present invention;
5 is a flowchart illustrating a charging method of a power line charging unmanned aerial vehicle according to an embodiment of the present invention.
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.
The power line charging unmanned aerial vehicle according to an embodiment of the present invention can perform continuous flight by charging the battery using a current generated in a charging unit in combination with a power line through which a current such as an electric wire installed in the outdoors flows.
Referring to FIG. 1, a power line charging unmanned
The UAV 130 can charge the battery included in the
However, the present invention is not limited thereto. If necessary, the charger may be integrally formed with the unmanned flight device and the unattended flight device, and may be accommodated in the unmanned flight device And can be combined with the unmanned aerial vehicle in various ways.
Power Line Charging System The unmanned
As shown in FIG. 2A, the power line charging unmanned
The
Referring to FIG. 2B, the power
As shown in FIG. 2B, the power
Referring to FIG. 2C, the
The
In addition, the
The
The
The
The power
At this time, the power
However, the present invention is not limited to this, and the power line search module may search for a power line at an appropriate distance according to the remaining amount of the battery, or may search for a power line that does not deviate farthest from the flight path by using the flight path.
The
At this time, the
Here, the
When the charging request signal is transmitted from the charging
If the distance between the
When the charging stop signal is transmitted from the
At this time, when the charge stop signal is sent from the
When the distance between the
Meanwhile, FIG. 4 shows a process of coupling the power line coupling member with the power line according to an embodiment of the present invention. FIG. 4A illustrates a coupling process of a power line coupling member of a rotation type according to an embodiment of the present invention with a power line, and FIG. 4B illustrates a coupling process of a sliding power line coupling member with a power line.
Referring to FIG. 4A, a power
The power
4B, the sliding type power
The power
FIG. 5 is a flowchart illustrating a charging method of a power line charging unmanned aerial vehicle according to an embodiment of the present invention.
Referring to FIG. 5, a charging method 500 of a power line charging unmanned aerial vehicle according to an embodiment of the present invention includes a step S510 of determining whether a power charging is required, a step S520 of determining a charging position, (S530), determining whether the power line coupling is correct (S540), starting charging (S550), and determining whether charging is completed (S560).
Hereinafter, the charging method according to an embodiment of the present invention will be described using the power line charging unmanned aerial vehicle shown in FIG. 2A for convenience of explanation, but the present invention is not limited thereto.
The charging method 500 of the power line charging unmanned aerial vehicle according to an embodiment of the present invention first determines whether power charging is required (step S510). The charge controller of the unmanned aerial vehicle checks the remaining power of the battery at predetermined intervals. If the detected power remaining amount is larger than the predetermined first set value, the charge control unit repeatedly checks the remaining power of the battery. If the remaining power is less than the first set value, It is possible to send a charging request signal.
Next, the charging position is determined (step S520). The unmanned aerial vehicle uses the power line search module to search for the location of the nearest chargeable power line. At this time, the unmanned aerial vehicle can determine the position of the nearest power line that can be charged to the charging position, or the power line at various positions such as the power line at an appropriate distance or the power line nearest to the flight path, .
In addition, the unmanned aerial vehicle may preferably determine a charging position by using a navigation device such as a GPS (not shown) or the like. By measuring the magnitude of a magnetic field using a magnetic field sensor (not shown) To determine the charging position.
Next, the unmanned aerial vehicle combines with the power line of the determined charging position (step S530). The unmanned aerial vehicle combines with the power line at the determined charging position using the power line coupling member. At this time, the coupling control module controls the opening and closing of the power line coupling member by using the distance between the power line, the distance sensor, or the camera included in the distance information acquired through the distance sensor or the camera, It is possible to perform the coupling with the power line.
Here, the coupling control module includes a magnetic eliminator, which, in the operating mode, can remove the magnetic field of the magnetic core of the current transformer and, in the stop mode, can stop the magnetic field removal of the magnetic core of the current transformer have.
When the charging request signal is transmitted from the charge control unit in step S510, the coupling control module can open the power line coupling member when the distance between the power line and the distance sensor or the camera is equal to or less than the predetermined first distance value, Value is reached, the coupling control module can close the power line coupling member.
In this case, if the distance between the power line and the distance sensor or the camera is less than the predetermined first distance value, the coupling control module may convert the magnetic removing device into the operation mode to remove the magnetic field of the magnetic core of the current transformer, Value is reached, it is possible to stop the magnetic field removal of the magnetic core of the current transformer by converting the self-removing device to the stop mode.
At this time, the power line coupling member can be coupled with the power line by inserting the power line into the through hole provided in the power line coupling member. At this time, the power line coupling member is configured to be openable and closable, and the through hole can be opened or closed in a rotating or sliding manner so that a power line can be inserted into the through hole.
Next, the unmanned aerial vehicle determines whether coupling with the power line is completed (step S540). When the distance between the power line and the distance sensor or the camera does not coincide with the second distance value, the coupling control module of the unmanned aerial vehicle determines that the coupling with the power line is not completed and repeats step S530 to rejoin the power line .
Next, if it is determined that the coupling with the power line is completed, the unmanned airplane device starts charging the battery (step S550).
The unmanned aerial vehicle generates inductive power using a magnetic field generated from the power line, and charges the battery using the generated power. At this time, the unmanned aerial vehicle can generate induction power by using a current transformer included in the charging unit.
When the power line is inserted into the through hole of the power line coupling member, the current transformer can generate electric power using the current flowing through the power line. The current transformer includes a magnetic core and a coil, generates a magnetic field using a magnetic field generated from the power line, and the unmanned aerial vehicle can charge the battery using the induced power generated by the current transformer.
Finally, the unmanned aerial vehicle determines whether charging is completed (step S560). The unmanned aerial vehicle uses a charge control unit to check the remaining power of the battery. At this time, if the remaining power of the battery is smaller than the predetermined second set value, the charge control unit determines that the charge is not completed and returns to step S550 to continue charging.
On the other hand, when the remaining power of the battery is equal to or greater than the predetermined second set value, the charge controller determines that the charge is completed and sends a charge stop signal. At this time, the coupling control module opens the power line coupling member, and when the distance between the power line and the distance sensor or the camera is equal to or larger than the predetermined first distance value, the power line coupling member is closed to release the coupling between the power line and the power line charging unmanned flight device And the unmanned aerial vehicle can continue to fly.
When the charge stop signal is transmitted from the charge control section, the coupling control module can convert the magnetic remover to the operation mode to remove the magnetic field of the magnetic core of the current transformer, and the distance between the power line and the distance sensor or the camera The coupling control module can convert the magnetic removal device into the stop mode and stop the magnetic field removal of the magnetic core of the current transformer.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
100: Power line charging type unmanned aerial vehicle 110:
130: unmanned flight device 111: power line coupling member
113: Current transformer 210: Charge control unit
230: Coupling subassembly 231: Power line search module
233:
310: distance sensor 330: camera
Claims (12)
A charging unit coupled to the power line to generate electric power necessary for charging using electromagnetic induction;
A charging controller for periodically measuring the remaining battery power of the unmanned aerial vehicle to send a charging request signal when charging is required and sending a charging stop signal when charging is completed; And
A coupling unit for receiving the charging request signal to search for the position of the power line, and assisting the coupling of the power line and the charging unit;
The power line charging unmanned flight device comprising:
The charging unit includes:
A power line coupling member for coupling with the power line;
A current transformer embedded in the power line coupling member and including a magnetic core and a coil for generating electric power using electromagnetic induction; And
A measurement module including at least one of a distance sensor and a camera for measuring a distance from the power line;
Further comprising a power line charging unmanned flight device.
Wherein the measurement module is arranged perpendicular to a center axis of a through hole formed in the power line coupling member to acquire a distance value with respect to the power line.
The coupling sub-
A power line search module for acquiring the charge request signal and searching for the position of the power line for the nearest charge; And
A coupling control module for controlling coupling of the power line coupling member with the power line;
Further comprising a power line charging unmanned flight device.
Wherein the coupling control module opens the through hole when the measurement value of the measurement module is equal to or less than a predetermined first distance value when the charge request signal is acquired and closes the through hole when the measurement value reaches the second distance value Power line charging system unmanned flight device.
Wherein the coupling control module opens the through hole when the charge stop signal is acquired and closes the through hole when the measurement value of the measurement module is equal to or greater than the first distance value.
Wherein the coupling control module further includes a magnetic eliminator and controls the coupling with the power line by performing a magnetic field elimination or an abortion stop of the magnetic core using the magnetic eliminator.
a) checking the remaining battery power of the unmanned airplane;
b) determining a position of the power line, which is a charging position of the unmanned airplane, if the battery power remaining amount is determined as a remaining amount requiring charging;
c) performing charging of the battery in combination with a power line at the determined location; And
d) determining that the charging of the battery is completed when the remaining amount of the battery power is determined as the remaining charged amount;
Charging method of a power line charging type unmanned aerial vehicle including a power line charging method.
Wherein the step a) further comprises repeating the step a) if the battery power remaining amount is greater than the remaining amount required for charging.
Wherein the step b) determines the power line closest to the unmanned aerial vehicle to the charging position.
Wherein the charging of the battery is performed using the induction power generated from the magnetic field generated in the power line in combination with the power line.
Wherein the step (d) repeats the step (c) when the remaining power of the battery is smaller than the remaining amount of the charged battery.
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KR1020150188950A KR20170078434A (en) | 2015-12-29 | 2015-12-29 | Unmanned aerial vehicle device charge by electric wire and charging method thereof |
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KR1020150188950A KR20170078434A (en) | 2015-12-29 | 2015-12-29 | Unmanned aerial vehicle device charge by electric wire and charging method thereof |
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Cited By (7)
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KR20170123295A (en) * | 2017-10-18 | 2017-11-07 | 엠엠피씨 주식회사 | Forest Fire Monitoring System |
CN108357689A (en) * | 2018-02-02 | 2018-08-03 | 武汉云众科技有限公司 | Can automatic charging unmanned plane port |
CN108583335A (en) * | 2018-04-28 | 2018-09-28 | 广东电网有限责任公司电力科学研究院 | A kind of patrol UAV charging system and method |
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KR20200108129A (en) * | 2019-03-06 | 2020-09-17 | 지상현 | Live cable detection and drone charging system using drone and method using thereof |
EP3633396A4 (en) * | 2018-02-19 | 2021-03-17 | Obshchestov S Ogranichennoy Otvetstvennostyu "Laboratoriya Budushchego" (OOO "Laboratoriya Budushchego") | Method of gripping an electrical transmission line for remote monitoring |
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2015
- 2015-12-29 KR KR1020150188950A patent/KR20170078434A/en not_active Application Discontinuation
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20170123295A (en) * | 2017-10-18 | 2017-11-07 | 엠엠피씨 주식회사 | Forest Fire Monitoring System |
CN108357689A (en) * | 2018-02-02 | 2018-08-03 | 武汉云众科技有限公司 | Can automatic charging unmanned plane port |
EP3633396A4 (en) * | 2018-02-19 | 2021-03-17 | Obshchestov S Ogranichennoy Otvetstvennostyu "Laboratoriya Budushchego" (OOO "Laboratoriya Budushchego") | Method of gripping an electrical transmission line for remote monitoring |
CN108583335A (en) * | 2018-04-28 | 2018-09-28 | 广东电网有限责任公司电力科学研究院 | A kind of patrol UAV charging system and method |
CN108583335B (en) * | 2018-04-28 | 2020-09-01 | 广东电网有限责任公司电力科学研究院 | Line patrol unmanned aerial vehicle charging system and method |
KR101979631B1 (en) | 2018-09-14 | 2019-05-17 | 주식회사 엘시그니처 | Wireless temperature diagnosis apparatus |
KR20200108129A (en) * | 2019-03-06 | 2020-09-17 | 지상현 | Live cable detection and drone charging system using drone and method using thereof |
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