CN115416508A - Anti-offset magnetic coupling mechanism, design method, charging system and storage medium - Google Patents

Abstract

The invention discloses an anti-offset magnetic coupling mechanism, a design method, a charging system and a storage medium, wherein the anti-offset magnetic coupling mechanism comprises a matrix type polarity transmitting coil and a matrix type polarity receiving coil; the matrix type polar transmitting coil comprises a plurality of transmitting coil plane square coil units which are connected in series; the receiving coil comprises a plurality of parallel plane square coil units; the planar square coil unit of the transmitting coil is perpendicular to the planar square coil unit of the receiving coil. The invention can realize stable coupling of the transmitting end and the receiving end under various deviation working conditions, avoids coupling failure of the transmitting end and the receiving end caused by deviation, improves the reliability of the unmanned aerial vehicle wireless charging, simultaneously considers the performances of transmission power, deviation resistance, electromagnetic interference, easy installation, light weight and the like of the system, can realize coupling of a plurality of receiving coils and the same transmitting coil, and further solves the problem of simultaneous charging of a plurality of unmanned aerial vehicles.

Description

An anti-offset magnetic coupling mechanism and design method, charging system and storage medium

technical field

The invention belongs to the technical field of wireless charging, and in particular relates to an anti-offset magnetic coupling mechanism and a design method, a charging system and a storage medium.

Background technique

Wireless charging technology has broad application scenarios in inspection equipment such as line inspection drones and wind farm inspection drones. At present, this kind of equipment generally extends the battery life by returning to the base station after a period of operation to manually or automatically replace the battery. However, automatic battery replacement requires sophisticated machinery and control devices. Manual battery replacement depends on the cooperation of operators, and the degree of automation is low. This method seriously restricts the inspection range of unmanned equipment and the efficiency of inspection work. There are also some devices that replenish power through the contact self-charging platform, but this method has problems such as wear and aging, vulnerability to weather and environment, and low reliability. The emergence of wireless charging technology provides a safe and reliable solution to the problem of UAV battery life. Scholars at home and abroad have proposed various magnetic coupling structures to adapt to the characteristics of UAV wireless charging scenarios. When the man-machine is docked, the receiving coil has a horizontal offset or a rotational offset with the vertical line of the fuselage center as the axis.

At present, the existing parallel disk coils, solenoid structures, cross-type structures, etc., cannot take into account transmission power, anti-offset performance, electromagnetic interference, ease of installation, light weight, etc., among which anti-offset The contradiction between performance and other aspects is particularly prominent, and there is an urgent need for a magnetic coupling mechanism that has anti-offset capability and can balance various performances to fill the gap.

Wireless charging is an ideal solution for improving the battery life of inspection drones, but there is currently no one that has outstanding anti-offset capabilities and can take into account transmission power, anti-offset performance, electromagnetic interference, ease of installation, and lightweight performance. The structure of the magnetic coupling mechanism leads to the typical coil misalignment problem in the UAV wireless charging scenario, which seriously restricts the practical application of the UAV wireless charging system.

Contents of the invention

The purpose of the present invention is to propose an anti-offset magnetic coupling mechanism and its design method, charging system and storage medium. The transmission power, anti-offset performance, electromagnetic interference, ease of installation and light weight of the system.

To achieve the above object, the technical scheme adopted in the present invention is as follows:

An anti-offset magnetic coupling mechanism, including a matrix-type polarity transmitting coil and a receiving coil;

The matrix polar transmitting coil includes several series-connected transmitting coil planar square coil units;

The receiving coil includes several parallel planar square coil units;

The planar square coil unit of the transmitting coil is vertically arranged with the planar square coil unit of the receiving coil.

Further, the magnetic flux directions of the planar square coil units of adjacent transmitting coils are opposite.

Further, the receiving coil includes two planar square coil units, and the planar square coil units are arranged symmetrically.

Further, when one planar square coil unit of the receiving coil is located at the center of the planar square coil unit of the transmitting coil, there is coupling between one planar square coil unit of the receiving coil and the matrix-type polarity transmitting coil under offset conditions.

其中L为发射线圈平面方形线圈单元的边长，n为发射线圈平面方形线圈单元的个数。Further, the distance d between the planar square coil units of the receiving coil satisfies d≠nL and

Wherein L is the side length of the planar square coil unit of the transmitting coil, and n is the number of planar square coil units of the transmitting coil.

A design method of an anti-offset magnetic coupling mechanism as described above, comprising:

Design several series-connected planar square coil units of transmitting coils to form a matrix polar transmitting coil;

Design several parallel planar square coil units to form receiving coils, and the mutual inductance of the planar square coil units meets the requirements under the condition of meeting the size limit of the drone;

For the vertically arranged planar square coil unit of the transmitting coil and the planar square coil unit of the receiving coil, under the distance constraint between the planar square coil units of the receiving coil, the simulation is carried out to determine the optimization target, and under the condition of arbitrary offset according to the optimization target, Transmit coil planar square coil unit dimensions.

其中，L为发射线圈平面方形线圈单元的边长，n为发射线圈平面方形线圈单元的个数，d为接收线圈的平面方形线圈单元之间的距离。Further, the distance between the planar square coil units of the receiving coil is constrained to be d≠nL and

Wherein, L is the side length of the planar square coil unit of the transmitting coil, n is the number of planar square coil units of the transmitting coil, and d is the distance between the planar square coil units of the receiving coil.

Further, the optimization goal is to maximize the average value of the mutual inductance between the receiving coil and the matrix polarity transmitting coil under any offset condition.

A computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the above-mentioned method for designing an anti-offset magnetic coupling mechanism.

A wireless charging system for drones, including the above-mentioned anti-offset magnetic coupling mechanism.

Compared with the prior art, the present invention has the beneficial effects:

The anti-offset magnetic coupling mechanism for unmanned aerial vehicle wireless charging of the present invention can realize the stable coupling of the transmitting end and the receiving end under various offset working conditions, avoiding the coupling failure of the transmitting end and the receiving end due to offset, While improving the reliability of UAV wireless charging, it also has the advantages of the traditional cross-type magnetic coupling mechanism, taking into account the system's transmission power, anti-offset performance, electromagnetic interference, ease of installation, and lightweight performance. By further increasing the number of units of the matrix transmitting coil and cooperating with the control means, the coupling of multiple receiving coils and the same transmitting coil can also be realized, thereby solving the problem of simultaneous charging of multiple drones.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the magnetic coupling mechanism of the present invention.

Fig. 2 is a schematic structural diagram of the matrix polar transmitting coil of the present invention.

Fig. 3 is a schematic structural diagram of the receiving coil of the present invention.

In the figure, 1 is a matrix polar transmitting coil, and 2 is a receiving coil.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings.

In the present invention, the transmitting end is a matrix type polarity transmitting coil 1, and the receiving end is a receiving coil 2.

Referring to Fig. 1, the anti-offset magnetic coupling mechanism for UAV wireless charging of the present invention mainly includes two parts, which are a horizontally placed matrix polarity transmitting coil 1 and two vertically placed and parallel receiving coils. Coil 2.

Referring to Fig. 2, the matrix-type polarity transmitting coil 1 is composed of several planar square coil units of the transmitting coils wound in opposite directions. The planar square coil units are connected in series so that the same current flows through them. The coil current in Fig. 2 The direction of the generated magnetic flux is indicated by "·" and "×", where "·" indicates that the magnetic flux direction is perpendicular to the plane where the transmitting coil is located, and "×" indicates that the direction of the magnetic flux is perpendicular to the plane where the transmitting coil is located and is inward.

其中L为发射线圈平面方形线圈单元的边长，n为发射线圈平面方形线圈单元的个数，n＝1,2,3，…。Referring to Fig. 3, the receiving coil 2 is composed of two vertically placed, parallel planar square coil units, the two planar square coils are located opposite each other, and the distance between the planes where the two coils are located is d. Since the launch has a symmetrical shape and structure, Only when a planar square coil unit in the receiving coil 2 is located at the center of a certain transmitting coil unit, the coupling between the receiving coil 2 and the matrix polar transmitting coil 1 is approximately eliminated. At this time, in order to ensure that there is still coupling between the other receiving coil unit and the matrix polarity transmitting coil 1 under the offset condition, the distance between the two coil units of the receiving coil 2 needs to satisfy d≠nL and

Where L is the side length of the planar square coil unit of the transmitting coil, n is the number of planar square coil units of the transmitting coil, n=1, 2, 3, . . .

The coupling mechanism of the present invention is used for wireless charging of the drone, and the two receiving coils are respectively installed on the two landing gears of the drone, so here the number of receiving coils is set to two.

A design method of the above-mentioned anti-offset magnetic coupling mechanism, comprising the following steps:

的尺寸约束下，在d取不同值时，接收端的接收线圈2的平面方形线圈单元发生任意偏移条件下，对发射端与接收端之间的互感进行仿真，选定一定的优化目标，例如以任意偏移条件下发射端与接收端之间互感的平均值最大为目标，优化发射线圈平面方形线圈单元的边长，找到任意偏移条件下令发射端与接收端间互感平均值最大的发射线圈平面方形线圈单元尺寸，至此磁耦合机构整体设计完成。Firstly, the planar square coil unit of the receiving coil 2 at the receiving end is designed so that the mutual inductance of the two planar square coil units is as small as possible under the condition of meeting the size limit of the drone; nL and

Under the size constraints of , when d takes different values, under the condition that the planar square coil unit of the receiving coil 2 at the receiving end is offset arbitrarily, the mutual inductance between the transmitting end and the receiving end is simulated, and a certain optimization target is selected, for example Aiming at the maximum average value of the mutual inductance between the transmitting end and the receiving end under any offset condition, optimize the side length of the planar square coil unit of the transmitting coil, and find the transmitter with the maximum average value of the mutual inductance between the transmitting end and the receiving end under any offset condition. Coil planar square coil unit size, so far the overall design of the magnetic coupling mechanism is completed.

The anti-offset magnetic coupling mechanism for UAV wireless charging proposed by the present invention can realize stable coupling between the transmitting end and the receiving end under various offset working conditions, and avoid the coupling failure of the transmitting end and the receiving end due to offset , while improving the reliability of UAV wireless charging, it also has the advantages of the traditional cross-type magnetic coupling mechanism, taking into account the system's transmission power, anti-offset performance, electromagnetic interference, easy installation, and lightweight performance. By further increasing the number of units of the matrix-type transmitting coil and increasing the area of the matrix-type transmitting coil, the coupling of multiple receiving coils and the same transmitting coil can also be realized, thereby solving the problem of simultaneous charging of multiple drones.

The invention provides an anti-offset magnetic coupling mechanism for wireless charging of drones. By adopting a matrix polar coil structure, horizontal magnetic fluxes in a wide range and in all directions are generated at the transmitting end. The design of the structure and the dimensional parameters of the coupling mechanism avoids coupling failure in extreme cases, makes the magnetic coupling mechanism as a whole have a strong anti-offset capability, and reduces the precision requirements for drone landing. At the same time, the transmitting end of the magnetic coupling mechanism proposed by the present invention can also couple multiple receiving ends at the same time, so as to realize simultaneous charging of multiple drones.

A wireless charging system for drones, including the above-mentioned anti-offset magnetic coupling mechanism.

A computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the above-mentioned method for designing an anti-offset magnetic coupling mechanism.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein. The solutions in the embodiments of the present application can be realized by using various computer languages, for example, the object-oriented programming language Java and the literal translation scripting language JavaScript.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

While preferred embodiments of the present application have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be interpreted to cover the preferred embodiment and all changes and modifications that fall within the scope of the application.

Obviously, those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims (10)

1. An anti-offset magnetic coupling mechanism is characterized by comprising a matrix type polar transmitting coil (1) and a matrix type polar receiving coil (2);

the matrix type polar transmitting coil (1) comprises a plurality of transmitting coil plane square coil units which are connected in series;

the receiving coil (2) comprises a plurality of parallel plane square coil units;

the planar square coil unit of the transmitting coil is perpendicular to the planar square coil unit of the receiving coil (2).

2. An anti-drift magnetic coupling mechanism according to claim 1, wherein the magnetic flux directions of adjacent transmitting coil planar square coil units are opposite.

3. Anti-drift magnetic coupling according to claim 1, characterized in that the receiving coil (2) comprises two planar square coil units, which are arranged symmetrically.

4. An anti-drift magnetic coupling mechanism according to claim 3, characterized in that a planar square coil unit of the receiving coil (2) is coupled to the matrix-type polar transmitting coil (1) in a drift condition when a planar square coil unit of the receiving coil (2) is located in the center of a planar square coil unit of the transmitting coil.

5. Anti-drift magnetic coupling mechanism according to claim 3, characterized in that the distance d between the planar square coil units of the receiving coil (2) satisfies d ≠ nL and

wherein L is the side length of the square coil unit of the transmitting coil plane, and n is the number of the square coil unit of the transmitting coil plane.

6. A method of designing an anti-drift magnetic coupling mechanism, comprising:

designing a plurality of transmitting coil plane square coil units connected in series to form a matrix type polar transmitting coil (1);

designing a plurality of parallel plane square coil units to form a receiving coil (2), wherein the mutual inductance of the plane square coil units meets the requirement under the condition of meeting the size limitation of the unmanned aerial vehicle;

and (3) simulating the transmitting coil plane square coil unit and the receiving coil plane square coil unit (2) which are vertically arranged under the constraint of the distance between the receiving coil plane square coil units (2), determining an optimization target, and determining the size of the transmitting coil plane square coil unit under any deviation condition according to the optimization target.

7. Method for designing an anti-drift magnetic coupling mechanism according to claim 6, characterized in that the distance between the planar square coil units of the receiving coil (2) is constrained to d ≠ nL and

l is the side length of the planar square coil units of the transmitting coil, n is the number of the planar square coil units of the transmitting coil, and d is the distance between the planar square coil units of the receiving coil.

8. The design method of the anti-offset magnetic coupling mechanism according to claim 6, characterized in that the optimization target is the maximum average value of mutual inductance between the receiving coil (2) and the matrix-type polar transmitting coil (1) under any offset condition.

9. An unmanned aerial vehicle wireless charging system, characterized in that, includes the anti-offset magnetic coupling mechanism of any one of claims 1-5.

10. A computer-readable storage medium, characterized in that a computer program is stored which, when executed by a processor, causes the processor to carry out a method of designing an anti-drift magnetic coupling mechanism according to any one of claims 6 to 8.

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