WO2021073232A1 - Wirelessly charged line inspection unmanned aerial vehicle, charging apparatus and charging method - Google Patents

Wirelessly charged line inspection unmanned aerial vehicle, charging apparatus and charging method Download PDF

Info

Publication number
WO2021073232A1
WO2021073232A1 PCT/CN2020/108780 CN2020108780W WO2021073232A1 WO 2021073232 A1 WO2021073232 A1 WO 2021073232A1 CN 2020108780 W CN2020108780 W CN 2020108780W WO 2021073232 A1 WO2021073232 A1 WO 2021073232A1
Authority
WO
WIPO (PCT)
Prior art keywords
induction coil
drone
line
rectifier
unmanned aerial
Prior art date
Application number
PCT/CN2020/108780
Other languages
French (fr)
Chinese (zh)
Inventor
马国利
石领先
张鑫
Original Assignee
滨州学院
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 滨州学院 filed Critical 滨州学院
Priority to ZA2021/02571A priority Critical patent/ZA202102571B/en
Publication of WO2021073232A1 publication Critical patent/WO2021073232A1/en

Links

Images

Classifications

    • 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
    • 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
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention mainly relates to the field of drones, in particular to a wireless charging line patrol drone, a charging device and a charging method.
  • the announcement number is CN106026261B, and the patent name is the invention patent of "Electric Long-distance Line Patrol UAV Charging Station”. It discloses a fixed midway charging device for drones, which can be used for midway charging of drones to improve their endurance. However, charging in this way takes a lot of time and reduces the efficiency of line inspection.
  • the publication number is CN108847708A, and the patent name is an invention patent named "A New Type of UAV Wireless Charging Platform and Charging Method". It uses a wireless charging platform to charge the UAV using the principle of electromagnetic induction charging, although wireless charging is introduced. Concept, but its charging platform is still fixed, and the drone cannot move during the charging process, which also reduces the efficiency of line inspection.
  • the present invention provides a wireless charging line patrol drone, a charging device and a charging method, which can make the drone fly while patrolling the line while charging, without affecting the line patrol efficiency Under the premise, the endurance of the drone is greatly improved.
  • a wireless charging device for line-following drones includes a drone body.
  • the bottom of the drone body is provided with an induction coil, a rectifier, and a one-way charger.
  • the two ends of the induction coil are connected to the input end of the rectifier.
  • the output end of the rectifier is connected with the battery charging end wire of the drone body, and the one-way charger is connected in series between the rectifier and the battery.
  • the induction coil is horizontally arranged at the bottom of the drone body.
  • the induction coil is vertically arranged at the bottom of the drone body, and the axis of the induction coil is perpendicular to the line when the drone is patrolling the line.
  • the inner ring of the induction coil is provided with a bearing frame, and the bottom of the drone body is provided with a mounting frame.
  • the bearing frame and the mounting frame are connected by a damping shaft, so that the induction coil can be manually adjusted to a horizontal position and a vertical position.
  • a servo motor is arranged on the mounting frame, a gear transmission device is arranged between the servo motor and the damping shaft, and the servo motor is electrically connected with the control device of the drone body.
  • a wireless charging line patrol drone is equipped with a charging device.
  • a wireless charging method for line patrol drones The drones fly along the parallel direction of the high-voltage lines, the drones are located directly above the high-voltage lines or outside the high-voltage lines, and the high-voltage lines circulate alternating current generated by alternating current.
  • the electromagnetic field passes through the induction coil, so that an induction current is generated in the induction coil to charge the drone battery.
  • the invention arranges the induction coil on the unmanned aerial vehicle, and the alternating magnetic field induced by the alternating current through the high-voltage line passes through the induction coil during the patrolling process of the unmanned aerial vehicle, and the induction current can be generated by the induction coil to charge the unmanned aerial vehicle battery.
  • the UAV's charging device is composed of an induction coil, a rectifier and a one-way charger.
  • the rectifier can rectify the alternating current in the induction coil into a direct current that can charge the battery.
  • the one-way charger prevents reverse discharge of the UAV battery and ensures the smooth progress of the charging process.
  • the alternating magnetic field near the high-voltage line passes through the induction coil, so that the induction current can be generated in the induction coil, so as to achieve the purpose of charging the UAV while patrolling the line.
  • Figure 1 is a schematic diagram of the structure of Embodiment 1 of the present invention.
  • Figure 2 is a schematic structural diagram of Embodiment 2 of the present invention.
  • Figure 3 is a schematic structural diagram of Embodiment 3 of the present invention.
  • Fig. 4 is a reference diagram for theoretical calculation of embodiment 3 of the present invention.
  • the wireless charging device for line-following drones of the present invention includes a drone body 1.
  • the drone body 1 serves as the main body of the line and carries a camera through a remote Communication technology to transfer the image back to the remote terminal.
  • the bottom of the drone body 1 is provided with an induction coil 2, a rectifier 3, and a one-way charger 4.
  • the two ends of the induction coil 2 are connected to the input end wire of the rectifier 3, and the output end of the rectifier 3 is connected to the drone.
  • the battery charging end of the body 1 is connected with a wire, and the unidirectional charger 4 is connected in series between the rectifier 3 and the battery.
  • the alternating current Because the high-voltage transmission line is transported as high-voltage alternating current, the alternating current generates an alternating magnetic field around the high-voltage line.
  • the alternating magnetic field passes through the induction coil to generate an induced alternating current in the induction coil.
  • the induced alternating current is rectified into direct current under the action of a rectifier. Charge the drone's battery.
  • the one-way charger connected in series with the rectifier and the battery charging port can prevent the battery from being reversely discharged, so as to ensure the smooth progress of the battery charging and the range of the UAV.
  • the induction coil 2 is horizontally arranged at the bottom of the drone body 1.
  • the horizontal and vertical induction coil allows the alternating magnetic field to pass through the induction coil vertically when the UAV flies on the side of the high-voltage line to maximize the induced electromotive force and ensure the charging efficiency of the UAV.
  • the induction coil 2 is vertically arranged at the bottom of the drone body 1, and the axis of the induction coil 2 is perpendicular to the line when the drone is patrolling the line.
  • the vertical induction coil can allow the alternating magnetic field to pass through the induction coil vertically when the UAV is flying over the high-voltage line, so as to maximize the induced electromotive force and ensure the charging efficiency of the UAV.
  • the inner ring of the induction coil 2 is provided with a carrier 5, the bottom of the drone body 1 is provided with a mounting frame 6, and the carrier 5 and the mounting frame 6 are connected by a damping shaft, so that the induction coil 2 Can be manually adjusted to the horizontal position and vertical position.
  • the position of the induction coil can be manually adjusted, so that the induction coil can be converted to the most suitable angle according to the requirements.
  • the flight position can be adjusted according to the angle of the coil, so as to change The magnetic field passes through the induction coil vertically to maximize the induced electromotive force and ensure the charging efficiency of the drone.
  • a servo motor 7 is provided on the mounting frame 6, a gear transmission device is provided between the servo motor 7 and the damping shaft, and the servo motor is electrically connected to the control device of the drone body.
  • the gear transmission device is driven by the servo motor, which can realize the remote control of the servo motor to rotate the induction coil to a suitable angle, which is matched with the flying position of the drone at this time, so that the alternating magnetic field can pass through the induction coil perpendicularly to maximize the induced electromotive force , To ensure the charging efficiency of the drone.
  • a wireless charging line patrol drone is equipped with the charging device described above. Through the installation of the wireless charging device, the line patrol drone can charge its own battery while patrolling the line, so that the cruising range of the line patrol drone can be greatly increased without affecting the line patrol efficiency.
  • a wireless charging method for charging line-following drones The drone flies along the parallel direction of the high-voltage line, and the drone is located directly above the high-voltage line (the induction coil should be set perpendicular to the horizontal plane at this time) or the high-voltage line On the outside (the induction coil should be arranged parallel to the horizontal plane at this time), the alternating electromagnetic field generated by the alternating current on the high-voltage line passes through the induction coil, so that the induction current generated in the induction coil is used to charge the drone battery.
  • a charging device for wireless charging line-following drones includes a drone body 1.
  • An induction coil 2, a rectifier 3, and a one-way charger 4 are provided at the bottom of the drone body 1.
  • the rectifier and the one-way charger It is installed on the chassis of the drone, and the induction coil is installed between the landing gear of the drone.
  • the outer inner ring of the induction coil is provided with a load-bearing inner ring, and the induction coil is wound on the load-bearing inner ring.
  • the induction coil 2 is arranged horizontally between the landing gears of the drone, that is, is installed horizontally on the chassis of the drone by fastening screws.
  • the two ends of the wire of the induction coil 2 are connected to the input end wire of the rectifier 3, the output end of the rectifier 3 is connected to the battery charging end wire of the drone body 1, and the one-way charger 4 is connected in series to the rectifier 3. And the battery.
  • the unidirectional charger is a unidirectional thyristor charging circuit.
  • the installation method of the induction coil in this example is slightly different.
  • the load-bearing inner ring of the induction coil is installed vertically on the drone chassis by screws, and the axis of the induction coil 2 is vertical. The route used when the drone is patrolling.
  • the installation method of the induction coil in this embodiment is slightly different.
  • the inner ring of the induction coil 2 is provided with a carrier 5, and the induction coil is wound on the carrier.
  • the mounting frame 6 is fixed by screws at the bottom of the drone body 1, and the carrying frame 5 and the mounting frame 6 are connected by a damping shaft, so that the induction coil 2 can be manually adjusted to a horizontal position and a vertical position.
  • the servo motor 7 can be screwed on the mounting frame 6, and a gear transmission device is installed between the servo motor 7 and the damping shaft, and the gear transmission device is a miniature gear reducer.
  • a 220KV high-voltage line is taken as an example.
  • the spacing of such lines is generally about 280cm-300cm, the ground height is above 1000cm, and the poles (iron towers) are about 500m apart.
  • r 0 is the distance between the coil and the high-voltage line
  • r is the distance between any point in the coil and the high-voltage line
  • a is the side length of the rectangular coil.
  • the UAV When the UAV coil is 3m away from the high-voltage transmission line for the first inspection line, the UAV is calculated at the center of the high-voltage line, and the induced magnetic field at the UAV is:
  • ⁇ 0 4 ⁇ 10 -7 Tesla ⁇ m/amp
  • z 2 250m
  • z 1 -250m
  • I max 1000A
  • r 0 3m.
  • the above conditions can be regarded as a wireless long straight wire that induces a magnetic field at 3 meters:
  • the magnetic flux passing through the dr strip is:
  • the induced current in the coil is:
  • the total output power of the induction coil is:
  • the rectifier After the rectifier is used to rectify and boost the voltage, the voltage is increased to about 12V, and the current is about 5A to charge the drone's lithium battery.
  • a wireless charging line patrol drone is equipped with the charging device described in any one of the embodiments 1-3.
  • This device is not only suitable for charging UAV batteries on AC power lines, but also for charging UAVs when patrolling DC power lines.
  • the drone controller needs to control the servo motor to continuously rotate in one direction or reciprocate, and drive the induction coil to rotate in one direction or reciprocate, and then the magnetic flux in the induction coil can be changed, so that no induced current is generated in the induction coil. Charge the man-machine battery.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

A wirelessly charged line inspection unmanned aerial vehicle, a charging apparatus and a charging method, mainly relating to the field of unmanned aerial vehicles. The charging apparatus of the wirelessly charged line inspection unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), wherein the bottom of the unmanned aerial vehicle body (1) is provided with an induction coil (2), a rectifier (3) and a unidirectional charger (4); two ends of the induction coil (2) are connected to an input end of the rectifier (3) via wires; and an output end of the rectifier (3) is connected to a battery charging end of the unmanned aerial vehicle body (1) via a wire. The wirelessly charged line inspection unmanned aerial vehicle has a charging apparatus mounted thereon, so that the unmanned aerial vehicle can be charged while flying to inspect lines, thereby greatly improving the endurance of the unmanned aerial vehicle under the premise of not affecting the line inspection efficiency thereof.

Description

一种无线充电巡线无人机、充电装置及充电方法Wireless charging line patrol drone, charging device and charging method 技术领域Technical field
本发明主要涉及无人机领域，具体是一种无线充电巡线无人机、充电装置及充电方法。The present invention mainly relates to the field of drones, in particular to a wireless charging line patrol drone, a charging device and a charging method.
背景技术Background technique
为了使输电线路安全稳定运行，安全可靠供用电，需要巡线人员组队对线路进行巡视，以及时发现线路故障并及时排除安全隐患。现在随着科技的发展，无人机正在逐渐应用到电力巡线队伍当中，无人机巡线效率更高，可以无视地形的恶劣条件保质保量的完成电力巡线，从而节省人力成本。但是无人机存在电池电量的限制，无法进行远距离的飞行，这就导致在续航能力上，无人机无法对远距离的线路进行巡检。In order to ensure the safe and stable operation of the transmission line and the safe and reliable supply and use of electricity, line patrol personnel need to team up to patrol the line, detect line faults in time and eliminate potential safety hazards in time. With the development of science and technology, UAVs are gradually being applied to power line patrol teams. UAV line patrols are more efficient and can complete power line patrols with quality and quantity regardless of the harsh terrain conditions, thereby saving manpower costs. However, the UAV is limited by battery power and cannot fly long distances. This results in the UAV being unable to inspect long-distance lines in terms of endurance.
在电池技术无法取得重大突破的前提下，为了解决这一问题，就需要开发无人机的中途充电技术。公告号为CN106026261B，专利名称为《电力远距离巡线无人机充电站》的发明专利，公开了一种固定的无人机中途充电装置，可供无人机中途充电以提高其续航能力。但是此种方式充电需要消耗大量时间，降低了巡线的效率。公开号为CN108847708A，专利名称为《一种新型无人机无线充电平台及充电方法》的发明专利，采用了无线充电平台利用电磁感应充电的原理对无人机进行充电，虽然引入了无线充电的概念，但是其充电平台仍然是固定的，无人机在充电过程中依然无法移动，同样降低了巡线的效率。Under the premise that no major breakthrough can be made in battery technology, in order to solve this problem, it is necessary to develop midway charging technology for drones. The announcement number is CN106026261B, and the patent name is the invention patent of "Electric Long-distance Line Patrol UAV Charging Station". It discloses a fixed midway charging device for drones, which can be used for midway charging of drones to improve their endurance. However, charging in this way takes a lot of time and reduces the efficiency of line inspection. The publication number is CN108847708A, and the patent name is an invention patent named "A New Type of UAV Wireless Charging Platform and Charging Method". It uses a wireless charging platform to charge the UAV using the principle of electromagnetic induction charging, although wireless charging is introduced. Concept, but its charging platform is still fixed, and the drone cannot move during the charging process, which also reduces the efficiency of line inspection.
发明内容Summary of the invention
为解决现有技术的不足，本发明提供了一种无线充电巡线无人机、充电装置及充电方法，它能够使无人机边飞行巡检线路边进行充电，在不影响巡线效 率的前提下大大提高无人机的续航能力。In order to solve the shortcomings of the prior art, the present invention provides a wireless charging line patrol drone, a charging device and a charging method, which can make the drone fly while patrolling the line while charging, without affecting the line patrol efficiency Under the premise, the endurance of the drone is greatly improved.
本发明为实现上述目的，通过以下技术方案实现：In order to achieve the above objectives, the present invention is achieved through the following technical solutions:
一种无线充电巡线无人机的充电装置，包括无人机本体，所述无人机本体底部设置感应线圈、整流器和单向充电器，所述感应线圈的两端与整流器的输入端导线连接，所述整流器的输出端与无人机本体的电池充电端导线连接，所述单向充电器串联在整流器与电池之间。A wireless charging device for line-following drones includes a drone body. The bottom of the drone body is provided with an induction coil, a rectifier, and a one-way charger. The two ends of the induction coil are connected to the input end of the rectifier. Connected, the output end of the rectifier is connected with the battery charging end wire of the drone body, and the one-way charger is connected in series between the rectifier and the battery.
所述感应线圈在无人机本体底部水平设置。The induction coil is horizontally arranged at the bottom of the drone body.
所述感应线圈在无人机本体底部垂直设置，所述感应线圈轴线垂直于无人机巡线时的线路。The induction coil is vertically arranged at the bottom of the drone body, and the axis of the induction coil is perpendicular to the line when the drone is patrolling the line.
所述感应线圈内圈设置承载架，所述无人机本体底部设置安装架，所述承载架与安装架之间通过阻尼轴连接，使所述感应线圈可手动调整为水平位置和垂直位置。The inner ring of the induction coil is provided with a bearing frame, and the bottom of the drone body is provided with a mounting frame. The bearing frame and the mounting frame are connected by a damping shaft, so that the induction coil can be manually adjusted to a horizontal position and a vertical position.
所述安装架上设置伺服电机，所述伺服电机与阻尼轴之间设置齿轮传动装置，所述伺服电机与无人机本体的控制装置电连接。A servo motor is arranged on the mounting frame, a gear transmission device is arranged between the servo motor and the damping shaft, and the servo motor is electrically connected with the control device of the drone body.
一种无线充电巡线无人机，安装有充电装置。A wireless charging line patrol drone is equipped with a charging device.
一种无线充电巡线无人机的充电方法，所述无人机沿高压线路平行方向飞行，所述无人机位于高压线路正上方或高压线路外侧，所述高压线路流通交流电产生的交变电磁场穿过感应线圈，使所述感应线圈内产生感应电流为无人机电池充电。A wireless charging method for line patrol drones. The drones fly along the parallel direction of the high-voltage lines, the drones are located directly above the high-voltage lines or outside the high-voltage lines, and the high-voltage lines circulate alternating current generated by alternating current. The electromagnetic field passes through the induction coil, so that an induction current is generated in the induction coil to charge the drone battery.
对比现有技术，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
本发明将感应线圈安置在无人机上，通过无人机巡线过程中高压线路通过交流电引发的交变磁场穿过感应线圈，可以由感应线圈产生感应电流为无人机电池进行充电。无人机的充电装置由感应线圈、整流器与单向充电器组成，整 流器可以将感应线圈内的交流电进行整流，成为可为电池充电的直流电。而单向充电器防止无人机电池反向放电，保障充电过程的顺利进行。通过无人机巡线时靠近高压线飞行，使高压线附近的交变磁场穿过感应线圈，从而使感应线圈内可以产生感应电流，达到无人机边巡线边充电的目的。The invention arranges the induction coil on the unmanned aerial vehicle, and the alternating magnetic field induced by the alternating current through the high-voltage line passes through the induction coil during the patrolling process of the unmanned aerial vehicle, and the induction current can be generated by the induction coil to charge the unmanned aerial vehicle battery. The UAV's charging device is composed of an induction coil, a rectifier and a one-way charger. The rectifier can rectify the alternating current in the induction coil into a direct current that can charge the battery. The one-way charger prevents reverse discharge of the UAV battery and ensures the smooth progress of the charging process. When the UAV is flying close to the high-voltage line when patrolling the line, the alternating magnetic field near the high-voltage line passes through the induction coil, so that the induction current can be generated in the induction coil, so as to achieve the purpose of charging the UAV while patrolling the line.
附图说明Description of the drawings
附图1是本发明实施例1结构示意图；Figure 1 is a schematic diagram of the structure of Embodiment 1 of the present invention;
附图2是本发明实施例2结构示意图；Figure 2 is a schematic structural diagram of Embodiment 2 of the present invention;
附图3是本发明实施例3结构示意图；Figure 3 is a schematic structural diagram of Embodiment 3 of the present invention;
附图4是本发明实施例3理论计算参考图。Fig. 4 is a reference diagram for theoretical calculation of embodiment 3 of the present invention.
附图中所示标号：1、无人机本体；2、感应线圈；3、整流器；4、单向充电器；5、承载架；6、安装架；7、伺服电机。The numbers shown in the drawings: 1. UAV body; 2. Induction coil; 3. Rectifier; 4. One-way charger; 5. Carrying frame; 6. Mounting frame; 7. Servo motor.
具体实施方式Detailed ways
结合附图和具体实施例，对本发明作进一步说明。应理解，这些实施例仅用于说明本发明而不用于限制本发明的范围。此外应理解，在阅读了本发明讲授的内容之后，本领域技术人员可以对本发明作各种改动或修改，这些等价形式同样落于本申请所限定的范围。The present invention will be further described with reference to the drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the present application.
如图1-3所示，本发明所述一种无线充电巡线无人机的充电装置，包括无人机本体1，所述无人机本体1作为巡线的主体，其携带摄像头通过远程通讯技术，将图像传递回远程终端。所述无人机本体1底部设置感应线圈2、整流器3和单向充电器4，所述感应线圈2的两端与整流器3的输入端导线连接，所述整流器3的输出端与无人机本体1的电池充电端导线连接，所述单向充电器4串联在整流器3与电池之间。由于高压输电线的线路输送为高压交流电，交流电在高压线周围产生交变磁场，交变磁场穿过感应线圈，使感应线圈内产生感应交流电 流，感应产生的交流电流在整流器的作用下整流为直流电为无人机的电池充电。整流器与电池充电端口串连的单向充电器，可以防止电池反向放电，从而保证电池充电的顺利进行，保障无人机的续航里程数。As shown in Figures 1-3, the wireless charging device for line-following drones of the present invention includes a drone body 1. The drone body 1 serves as the main body of the line and carries a camera through a remote Communication technology to transfer the image back to the remote terminal. The bottom of the drone body 1 is provided with an induction coil 2, a rectifier 3, and a one-way charger 4. The two ends of the induction coil 2 are connected to the input end wire of the rectifier 3, and the output end of the rectifier 3 is connected to the drone. The battery charging end of the body 1 is connected with a wire, and the unidirectional charger 4 is connected in series between the rectifier 3 and the battery. Because the high-voltage transmission line is transported as high-voltage alternating current, the alternating current generates an alternating magnetic field around the high-voltage line. The alternating magnetic field passes through the induction coil to generate an induced alternating current in the induction coil. The induced alternating current is rectified into direct current under the action of a rectifier. Charge the drone's battery. The one-way charger connected in series with the rectifier and the battery charging port can prevent the battery from being reversely discharged, so as to ensure the smooth progress of the battery charging and the range of the UAV.
具体的，所述感应线圈2在无人机本体1底部水平设置。水平竖直的感应线圈，在无人机飞在高压线一侧时，可使交变磁场垂直穿过感应线圈，使感应电动势最大化，保证无人机的充电效率。Specifically, the induction coil 2 is horizontally arranged at the bottom of the drone body 1. The horizontal and vertical induction coil allows the alternating magnetic field to pass through the induction coil vertically when the UAV flies on the side of the high-voltage line to maximize the induced electromotive force and ensure the charging efficiency of the UAV.
具体的，所述感应线圈2在无人机本体1底部垂直设置，所述感应线圈2轴线垂直于无人机巡线时的线路。垂直设置的感应线圈，在无人机飞在高压线上方时，可使交变磁场垂直穿过感应线圈，使感应电动势最大化，保证无人机的充电效率。Specifically, the induction coil 2 is vertically arranged at the bottom of the drone body 1, and the axis of the induction coil 2 is perpendicular to the line when the drone is patrolling the line. The vertical induction coil can allow the alternating magnetic field to pass through the induction coil vertically when the UAV is flying over the high-voltage line, so as to maximize the induced electromotive force and ensure the charging efficiency of the UAV.
具体的，所述感应线圈2内圈设置承载架5，所述无人机本体1底部设置安装架6，所述承载架5与安装架6之间通过阻尼轴连接，使所述感应线圈2可手动调整为水平位置和垂直位置。通过感应线圈与承载架的阻尼轴连接，可以手动调节感应线圈的位置，使感应线圈可以按照要求转变为最合适的角度，在无人机飞行时依据线圈的角度调节飞行位置，从而使交变磁场垂直穿过感应线圈，使感应电动势最大化，保证无人机的充电效率。Specifically, the inner ring of the induction coil 2 is provided with a carrier 5, the bottom of the drone body 1 is provided with a mounting frame 6, and the carrier 5 and the mounting frame 6 are connected by a damping shaft, so that the induction coil 2 Can be manually adjusted to the horizontal position and vertical position. By connecting the induction coil to the damping shaft of the carrier, the position of the induction coil can be manually adjusted, so that the induction coil can be converted to the most suitable angle according to the requirements. When the drone is flying, the flight position can be adjusted according to the angle of the coil, so as to change The magnetic field passes through the induction coil vertically to maximize the induced electromotive force and ensure the charging efficiency of the drone.
具体的，所述安装架6上设置伺服电机7，所述伺服电机7与阻尼轴之间设置齿轮传动装置，所述伺服电机与无人机本体的控制装置电连接。通过伺服电机驱动齿轮传动装置，可以实现远程遥控伺服电机使感应线圈转动到合适角度，与此时的无人机飞行位置相配合，使交变磁场可垂直穿过感应线圈，使感应电动势最大化，保证无人机的充电效率。Specifically, a servo motor 7 is provided on the mounting frame 6, a gear transmission device is provided between the servo motor 7 and the damping shaft, and the servo motor is electrically connected to the control device of the drone body. The gear transmission device is driven by the servo motor, which can realize the remote control of the servo motor to rotate the induction coil to a suitable angle, which is matched with the flying position of the drone at this time, so that the alternating magnetic field can pass through the induction coil perpendicularly to maximize the induced electromotive force , To ensure the charging efficiency of the drone.
一种无线充电巡线无人机，安装有上文所述的充电装置。通过该无线充电装置的安装，使巡线无人机可以边进行巡线飞行边对自身电池进行充电，从而 可以在不影响巡线效率的前提下大大提高巡线无人机的续航里程数。A wireless charging line patrol drone is equipped with the charging device described above. Through the installation of the wireless charging device, the line patrol drone can charge its own battery while patrolling the line, so that the cruising range of the line patrol drone can be greatly increased without affecting the line patrol efficiency.
一种无线充电巡线无人机的充电方法，所述无人机沿高压线路平行方向飞行，所述无人机位于高压线路正上方(此时的感应线圈应垂直于水平面设置)或高压线路外侧(此时的感应线圈应平行于水平面设置)，所述高压线路流通交流电产生的交变电磁场穿过感应线圈，使所述感应线圈内产生感应电流为无人机电池充电。A wireless charging method for charging line-following drones. The drone flies along the parallel direction of the high-voltage line, and the drone is located directly above the high-voltage line (the induction coil should be set perpendicular to the horizontal plane at this time) or the high-voltage line On the outside (the induction coil should be arranged parallel to the horizontal plane at this time), the alternating electromagnetic field generated by the alternating current on the high-voltage line passes through the induction coil, so that the induction current generated in the induction coil is used to charge the drone battery.
实施例1：Example 1:
一种无线充电巡线无人机的充电装置，包括无人机本体1，所述无人机本体1底部设置感应线圈2、整流器3和单向充电器4，所述整流器与单向充电器安装在无人机底盘上，所述感应线圈安装在无人机起落架之间。本实施例中所述感应线圈外侧内圈设置承载内圈，所述感应线圈就缠绕在承载内圈上。所述感应线圈2在无人机起落架之间水平设置，即通过紧固螺钉水平安装在无人机底盘上。所述感应线圈2金属丝的两端与整流器3的输入端导线连接，所述整流器3的输出端与无人机本体1的电池充电端导线连接，所述单向充电器4串联在整流器3与电池之间。所述单向充电器为单向可控硅充电电路。A charging device for wireless charging line-following drones includes a drone body 1. An induction coil 2, a rectifier 3, and a one-way charger 4 are provided at the bottom of the drone body 1. The rectifier and the one-way charger It is installed on the chassis of the drone, and the induction coil is installed between the landing gear of the drone. In this embodiment, the outer inner ring of the induction coil is provided with a load-bearing inner ring, and the induction coil is wound on the load-bearing inner ring. The induction coil 2 is arranged horizontally between the landing gears of the drone, that is, is installed horizontally on the chassis of the drone by fastening screws. The two ends of the wire of the induction coil 2 are connected to the input end wire of the rectifier 3, the output end of the rectifier 3 is connected to the battery charging end wire of the drone body 1, and the one-way charger 4 is connected in series to the rectifier 3. And the battery. The unidirectional charger is a unidirectional thyristor charging circuit.
实施例2：Example 2:
针对实施例1，本实施例中所述感应线圈的安装方式略有不同，本实施例中所述感应线圈的承载内圈通过螺钉垂直安装在无人机底盘上，所述感应线圈2轴线垂直于无人机巡线时的线路。For example 1, the installation method of the induction coil in this example is slightly different. In this example, the load-bearing inner ring of the induction coil is installed vertically on the drone chassis by screws, and the axis of the induction coil 2 is vertical. The route used when the drone is patrolling.
实施例3：Example 3:
针对实施例1，本实施例中感应线圈的安装方式略有不同，本实施例中所述感应线圈2内圈设置承载架5，所述感应线圈缠绕在承载架上。所述无人机本体1底部螺钉固定安装架6，所述承载架5与安装架6之间通过阻尼轴连接，使所 述感应线圈2可手动调整为水平位置和垂直位置。更为优选的，所述安装架6上还可螺钉固定伺服电机7，所述伺服电机7与阻尼轴之间安装齿轮传动装置，所述齿轮传动装置为微型齿轮减速箱。Regarding Embodiment 1, the installation method of the induction coil in this embodiment is slightly different. In this embodiment, the inner ring of the induction coil 2 is provided with a carrier 5, and the induction coil is wound on the carrier. The mounting frame 6 is fixed by screws at the bottom of the drone body 1, and the carrying frame 5 and the mounting frame 6 are connected by a damping shaft, so that the induction coil 2 can be manually adjusted to a horizontal position and a vertical position. More preferably, the servo motor 7 can be screwed on the mounting frame 6, and a gear transmission device is installed between the servo motor 7 and the damping shaft, and the gear transmission device is a miniature gear reducer.
本实施例以220KV高压线为例，此类线的间距一般都在280cm-300cm左右，地高在1000cm以上，杆(铁塔)距500m左右。结合附图4，r 0为线圈距高压线距离，r为线圈内任一点距高压线距离，a为矩形线圈边长。 In this embodiment, a 220KV high-voltage line is taken as an example. The spacing of such lines is generally about 280cm-300cm, the ground height is above 1000cm, and the poles (iron towers) are about 500m apart. With reference to Figure 4, r 0 is the distance between the coil and the high-voltage line, r is the distance between any point in the coil and the high-voltage line, and a is the side length of the rectangular coil.
220千伏高压线的负荷在50000KW-200000KW之间，最小额定电流I＝P/U＝50000/220＝227A，最大额定电流I＝P/U＝200000/220＝909A，实际220千伏高压线额定电流在200A—1000A之间。The load of the 220kV high-voltage line is between 50000KW-200000KW, the minimum rated current I=P/U=50000/220=227A, the maximum rated current I=P/U=200000/220=909A, the actual 220kV high-voltage line rated current Between 200A-1000A.
当无人机线圈距离高压输电线3m距离初巡线，以无人机在高压线中心位置处计算，在无人机处的感应磁场为：When the UAV coil is 3m away from the high-voltage transmission line for the first inspection line, the UAV is calculated at the center of the high-voltage line, and the induced magnetic field at the UAV is:
Figure PCTCN2020108780-appb-000001
Figure PCTCN2020108780-appb-000001
其中μ 0＝4π×10 -7特斯拉·米/安培；z 2＝250m；z 1＝-250m；I max＝1000A；r 0＝3m。 Wherein μ 0 =4π×10 -7 Tesla·m/amp; z 2 =250m; z 1 =-250m; I max =1000A; r 0 =3m.
以上条件可以看作是无线长直导线在3米处感应磁场：The above conditions can be regarded as a wireless long straight wire that induces a magnetic field at 3 meters:
Figure PCTCN2020108780-appb-000002
特斯拉(最高峰值)
Figure PCTCN2020108780-appb-000002
Tesla (highest peak)
3米处无人机下方挂载正方形边长为a(＝50cm)，约500匝的线圈，由于高压线电流是50Hz正弦波振荡的，所以感应磁场也一样：A square coil with a side length of a (=50cm) and about 500 turns is mounted below the drone at 3 meters. Since the high-voltage line current is oscillated by a 50Hz sine wave, the induced magnetic field is also the same:
I＝I 0cosωt I＝I 0 cosωt
Figure PCTCN2020108780-appb-000003
Figure PCTCN2020108780-appb-000003
如图4：距导线为r处的磁感应强度是一样的：Figure 4: The magnetic induction intensity at the distance r from the wire is the same:
Figure PCTCN2020108780-appb-000004
Figure PCTCN2020108780-appb-000004
通过dr长条处的磁通量为：The magnetic flux passing through the dr strip is:
Figure PCTCN2020108780-appb-000005
Figure PCTCN2020108780-appb-000005
通过正方形的总磁通量为(线圈匝数为N＝500)：The total magnetic flux passing through the square is (the number of turns of the coil is N=500):
Figure PCTCN2020108780-appb-000006
Figure PCTCN2020108780-appb-000006
感应线圈中感应电动势：The induced electromotive force in the induction coil:
Figure PCTCN2020108780-appb-000007
Figure PCTCN2020108780-appb-000007
其中，ω＝2πf。Among them, ω=2πf.
线圈中的感应电流为：The induced current in the coil is:
Figure PCTCN2020108780-appb-000008
Figure PCTCN2020108780-appb-000008
感应电动势最大值为：The maximum value of induced electromotive force is:
Figure PCTCN2020108780-appb-000009
Figure PCTCN2020108780-appb-000009
充电线圈再加入阻抗为0.1Ω电阻，则最大电流为：Add a 0.1Ω resistance to the charging coil, and the maximum current is:
I max＝25.1A I max ＝25.1A
感应线圈输出总功率为：The total output power of the induction coil is:
P max＝2.51×25.1＝63W P max =2.51×25.1=63W
利用整流器整流升压后，将电压提升到12V左右，此时电流为5A左右对无人机锂电池充电。After the rectifier is used to rectify and boost the voltage, the voltage is increased to about 12V, and the current is about 5A to charge the drone's lithium battery.
需要指出的是，本计算只考虑了单根高压线的磁场状况，鉴于多条高压输电线磁场叠加原理，同时也考虑到其他线路磁场互相抵消和距离感应线圈距离 的问题，实际操作中感应线圈输出总功率会比计算值略大。It should be pointed out that this calculation only considers the magnetic field condition of a single high-voltage line. In view of the principle of magnetic field superposition of multiple high-voltage transmission lines, it also takes into account the magnetic fields of other lines that cancel each other and the distance from the induction coil. In actual operation, the induction coil output The total power will be slightly larger than the calculated value.
实施例4：Example 4:
一种无线充电巡线无人机，安装有实施例1-3任一实施例所述的充电装置。A wireless charging line patrol drone is equipped with the charging device described in any one of the embodiments 1-3.
实施例5：Example 5:
本装置不仅适用于交流输电线为无人机电池充电，同样适用于直流电的输电线巡线时为无人机充电。此时只需要由无人机控制器控制伺服电机持续单向转动或者往复转动，带动感应线圈单向转动或者往复摆动，即可实现感应线圈内磁通量的变化，使感应线圈内产生感应电流为无人机电池充电。This device is not only suitable for charging UAV batteries on AC power lines, but also for charging UAVs when patrolling DC power lines. At this time, only the drone controller needs to control the servo motor to continuously rotate in one direction or reciprocate, and drive the induction coil to rotate in one direction or reciprocate, and then the magnetic flux in the induction coil can be changed, so that no induced current is generated in the induction coil. Charge the man-machine battery.

Claims (7)

  1. 一种无线充电巡线无人机的充电装置，包括无人机本体(1)，其特征在于：所述无人机本体(1)底部设置感应线圈(2)、整流器(3)和单向充电器(4)，所述感应线圈(2)的两端与整流器(3)的输入端导线连接，所述整流器(3)的输出端与无人机本体(1)的电池充电端导线连接，所述单向充电器(4)串联在整流器(3)与电池之间。A wireless charging device for line-following drones includes a drone body (1), characterized in that: the bottom of the drone body (1) is provided with an induction coil (2), a rectifier (3) and a unidirectional Charger (4), both ends of the induction coil (2) are connected to the input end wire of the rectifier (3), and the output end of the rectifier (3) is connected to the battery charging end wire of the drone body (1) The one-way charger (4) is connected in series between the rectifier (3) and the battery.
  2. 根据权利要求1所述的一种无线充电巡线无人机的充电装置，其特征在于：所述感应线圈(2)在无人机本体(1)底部水平设置。The charging device for wireless charging line-following drones according to claim 1, characterized in that the induction coil (2) is horizontally arranged at the bottom of the drone body (1).
  3. 根据权利要求1所述的一种无线充电巡线无人机的充电装置，其特征在于：所述感应线圈(2)在无人机本体(1)底部垂直设置，所述感应线圈(2)轴线垂直于无人机巡线时的线路。The wireless charging device for line-following drones according to claim 1, characterized in that: the induction coil (2) is vertically arranged at the bottom of the drone body (1), and the induction coil (2) The axis is perpendicular to the line when the drone is patrolling.
  4. 根据权利要求1所述的一种无线充电巡线无人机的充电装置，其特征在于：所述感应线圈(2)内圈设置承载架(5)，所述无人机本体(1)底部设置安装架(6)，所述承载架(5)与安装架(6)之间通过阻尼轴连接，使所述感应线圈(2)可手动调整为水平位置和垂直位置。The wireless charging device for line-following drones according to claim 1, characterized in that: the inner ring of the induction coil (2) is provided with a carrying frame (5), and the bottom of the drone body (1) A mounting frame (6) is provided, and the carrying frame (5) and the mounting frame (6) are connected through a damping shaft, so that the induction coil (2) can be manually adjusted to a horizontal position and a vertical position.
  5. 根据权利要求4所述的一种无线充电巡线无人机的充电装置，其特征在于：所述安装架(6)上设置伺服电机(7)，所述伺服电机(7)与阻尼轴之间设置齿轮传动装置，所述伺服电机(7)与无人机本体(1)的控制装置电连接。A wireless charging line-following drone charging device according to claim 4, characterized in that: the mounting frame (6) is provided with a servo motor (7), the servo motor (7) and the damping shaft A gear transmission device is arranged in between, and the servo motor (7) is electrically connected with the control device of the drone body (1).
  6. 一种无线充电巡线无人机，其特征在于：安装有权利要求1-4任一权利要求所述的充电装置。A wireless charging line patrol drone, characterized in that: the charging device according to any one of claims 1 to 4 is installed.
  7. 一种无线充电巡线无人机的充电方法，其特征在于：所述无人机沿高压线路平行方向飞行，所述无人机位于高压线路正上方或高压线路外侧，所述高压线路流通交流电产生的交变电磁场穿过感应线圈，使所述感应线圈内产生感应电流为无人机电池充电。A wireless charging method for line-following drones is characterized in that the drones fly in parallel to high-voltage lines, the drones are located directly above the high-voltage lines or outside the high-voltage lines, and the high-voltage lines circulate alternating current. The generated alternating electromagnetic field passes through the induction coil, causing the induction current to be generated in the induction coil to charge the drone battery.
PCT/CN2020/108780 2019-10-15 2020-08-13 Wirelessly charged line inspection unmanned aerial vehicle, charging apparatus and charging method WO2021073232A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ZA2021/02571A ZA202102571B (en) 2019-10-15 2021-04-19 Wirelessly charged patrol uav, charging device, and charging method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910986669.5 2019-10-15
CN201910986669.5A CN110682807A (en) 2019-10-15 2019-10-15 Wireless charging line inspection unmanned aerial vehicle, charging device and charging method

Publications (1)

Publication Number Publication Date
WO2021073232A1 true WO2021073232A1 (en) 2021-04-22

Family

ID=69113312

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/108780 WO2021073232A1 (en) 2019-10-15 2020-08-13 Wirelessly charged line inspection unmanned aerial vehicle, charging apparatus and charging method

Country Status (3)

Country Link
CN (1) CN110682807A (en)
WO (1) WO2021073232A1 (en)
ZA (1) ZA202102571B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114189062A (en) * 2021-12-13 2022-03-15 广西电网有限责任公司河池供电局 Management and control device is tracked in flight that unmanned aerial vehicle used

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110682807A (en) * 2019-10-15 2020-01-14 滨州学院 Wireless charging line inspection unmanned aerial vehicle, charging device and charging method
CN112070427A (en) * 2020-07-30 2020-12-11 辽宁立洲科技有限公司 Transmission tower Internet of things
CN111942188B (en) * 2020-08-11 2022-04-12 北京京东乾石科技有限公司 Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium
CN112829929B (en) * 2021-01-27 2022-12-27 贵州电网有限责任公司 A wireless line unmanned aerial vehicle that patrols that charges for on high-voltage line
CN113067416A (en) * 2021-03-29 2021-07-02 贵州电网有限责任公司 Electromagnetic induction wireless automatic charging device
CN113300493B (en) * 2021-05-31 2022-11-01 桂林电子科技大学 Magnetic coupling resonant wireless power transmission system based on electromagnetic metamaterial

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170015415A1 (en) * 2015-07-15 2017-01-19 Elwha Llc System and method for operating unmanned aircraft
CN207078322U (en) * 2017-08-14 2018-03-09 云南安防科技有限公司 A kind of unmanned plane of continuing a journey for HV Transmission Line Routing Inspection
CN108528254A (en) * 2018-04-28 2018-09-14 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
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
CN108688496A (en) * 2018-05-03 2018-10-23 哈尔滨工业大学（威海） Unmanned plane wireless charging system and unmanned plane
CN109533329A (en) * 2018-10-16 2019-03-29 同济大学 Magnetic suspension positioning device and unmanned plane and charging method for unmanned plane charging
CN110682807A (en) * 2019-10-15 2020-01-14 滨州学院 Wireless charging line inspection unmanned aerial vehicle, charging device and charging method

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10099561B1 (en) * 2015-09-25 2018-10-16 Amazon Technologies, Inc. Airborne unmanned aerial vehicle charging
CN107069910A (en) * 2017-05-19 2017-08-18 国网江苏省电力公司泰州供电公司 A kind of unmanned plane of utilization high-voltage line charging
KR101815091B1 (en) * 2017-06-13 2018-01-04 강종수 An unmanned aerial vehicle for inspecting of high-voltage line and a method for controlling the same
CN207128661U (en) * 2017-09-11 2018-03-23 三峡大学 A kind of unmanned plane outdoor charger unit
EP3486179B1 (en) * 2017-11-16 2022-08-31 The Boeing Company Inpecting utilities by means of an unmanned aerial vehicle and charging a rechargeable battery of the vehicle in flight using a high voltage power line and method and apparatus for generating a flight plan for the vehicle
US11059378B2 (en) * 2017-11-16 2021-07-13 The Boeing Company Charging a rechargeable battery of an unmanned aerial vehicle in flight using a high voltage power line

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170015415A1 (en) * 2015-07-15 2017-01-19 Elwha Llc System and method for operating unmanned aircraft
CN207078322U (en) * 2017-08-14 2018-03-09 云南安防科技有限公司 A kind of unmanned plane of continuing a journey for HV Transmission Line Routing Inspection
CN108528254A (en) * 2018-04-28 2018-09-14 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
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
CN108688496A (en) * 2018-05-03 2018-10-23 哈尔滨工业大学（威海） Unmanned plane wireless charging system and unmanned plane
CN109533329A (en) * 2018-10-16 2019-03-29 同济大学 Magnetic suspension positioning device and unmanned plane and charging method for unmanned plane charging
CN110682807A (en) * 2019-10-15 2020-01-14 滨州学院 Wireless charging line inspection unmanned aerial vehicle, charging device and charging method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114189062A (en) * 2021-12-13 2022-03-15 广西电网有限责任公司河池供电局 Management and control device is tracked in flight that unmanned aerial vehicle used

Also Published As

Publication number Publication date
ZA202102571B (en) 2021-07-28
CN110682807A (en) 2020-01-14

Similar Documents

Publication Publication Date Title
WO2021073232A1 (en) Wirelessly charged line inspection unmanned aerial vehicle, charging apparatus and charging method
CN103872795B (en) For the charge system of unmanned aerial vehicle
CN207078322U (en) A kind of unmanned plane of continuing a journey for HV Transmission Line Routing Inspection
CN104362714B (en) A kind of electric automobile cellular radio charging pile
CN109638718B (en) Inspection robot for overhead transmission line
CN108688496B (en) Unmanned aerial vehicle wireless charging system and unmanned aerial vehicle
CN102891538A (en) Line patrol robot wireless charging system
CN107294224A (en) Multi-coil excitation field manifold type wireless charging platform
CN108847708A (en) A kind of novel unmanned plane wireless charging platform and charging method
US11738651B2 (en) Flying device
CN203871930U (en) Charging system for unmanned aerial vehicle
KR20180130248A (en) Multi phase wireless charging system for electric car
CN211641870U (en) Unmanned aerial vehicle charging system
CN210468874U (en) Wireless charging system of transformer substation inspection robot
Chittoor et al. Building integrated photovoltaic powered wireless drone charging system
CN205589518U (en) Unmanned aerial vehicle intelligent charging system
CN110729820B (en) Unmanned aerial vehicle and take wireless receiving element and take anti skew coupling coil for its wireless charging
CN108638893B (en) Unmanned aerial vehicle charging system based on transmission tower
RU165925U1 (en) DEVICE FOR CONTACTLESS POWER TAKE-OFF FROM HIGH VOLTAGE ELECTRIC TRANSMISSION LINES ON AIRCRAFT
CN113060021B (en) Unmanned aerial vehicle wireless charging platform transmitting and receiving coil equipment
CN214001408U (en) Unmanned aerial vehicle charging device for high-voltage transmission line inspection
CN209244728U (en) A kind of variable reluctance power generator of wind drive
JPS5939961B2 (en) In-car power supply for ultra-high-speed magnetic levitation trains
CN205753571U (en) A kind of power transmission line inspection robot automatic charging system
CN205871775U (en) Wireless charging system for electric automobile

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20876306

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20876306

Country of ref document: EP

Kind code of ref document: A1