CN120903041A

CN120903041A - Anti-offset unmanned aerial vehicle wireless charging device and method based on dual load identification

Info

Publication number: CN120903041A
Application number: CN202511399566.0A
Authority: CN
Inventors: 曾振炜; 陈龙; 孙亮; 袁旸
Original assignee: Taizhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
Current assignee: Taizhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
Priority date: 2025-09-28
Filing date: 2025-09-28
Publication date: 2025-11-07

Abstract

The invention provides an anti-offset unmanned aerial vehicle wireless charging device and method based on dual load identification, belonging to the technical field of unmanned aerial vehicle charging, wherein the charging device comprises a charging module, a charging module and a charging module, wherein the charging module comprises a transmitting coil and a receiving coil arranged on an unmanned aerial vehicle to be charged, and is used for establishing an electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged and carrying out wireless energy transfer; the system comprises a pressure trigger area, an identification control module, a power module and a charging module, wherein the pressure trigger area is used for identifying the pressure trigger area to determine the landing area of the unmanned aerial vehicle to be charged, the communication state identification result is combined to control the transmitting coil to be connected, the power module is used for providing working voltage for the charging module and the identification control module, and the charging method is applied to the charging device to realize charging control of the unmanned aerial vehicle to be charged. According to the invention, the position judgment and identity verification of the unmanned aerial vehicle load can be realized through the pressure trigger area and the communication state identification, so that the access of the transmitting coil is dynamically controlled, the misjudgment of starting charging or position deviation charging is avoided, and the non-effective energy consumption and the energy waste are reduced.

Description

Anti-offset unmanned aerial vehicle wireless charging device and method based on dual load identification

Technical Field

The invention relates to the technical field of unmanned aerial vehicle charging, in particular to an anti-offset unmanned aerial vehicle wireless charging device and method based on dual load identification.

Background

With the deep application of unmanned aerial vehicles in the fields of power inspection, environmental monitoring, logistics distribution and the like, insufficient cruising ability has become a key bottleneck for restricting continuous operation of unmanned aerial vehicles. The traditional manual battery replacement mode is low in efficiency and difficult to adapt to complex scenes such as remote areas and high-altitude operations, so that the non-contact charging technology gradually becomes the core development direction of unmanned aerial vehicle automatic energy supplementing by virtue of the advantage of no physical contact butt joint. The non-contact charging technology mainly relies on the electromagnetic induction principle to realize energy transmission, and wireless energy transmission can be realized through close-range electromagnetic induction of a transmitting coil and a receiving coil.

However, in the practical application process, in order to ensure that the unmanned aerial vehicle can quickly start charging when approaching, the charging device usually keeps a normal power-on standby state, and when the transmitting coil is not loaded, the magnetic field energy generated by the transmitting coil cannot be absorbed by the receiving coil, and most of the energy can be converted into the heat energy of the coil, so that a great amount of energy consumption is wasted, and the operation safety of the charging device is also affected.

Therefore, the existing unmanned aerial vehicle wireless charging device is mostly provided with a load identification function, and the work of the charging device is stopped when no load exists through load judgment, so that continuous empty consumption of a transmitting coil in a no-load state is effectively avoided, and standby energy consumption is reduced. However, the existing load identification function only can judge whether a load exists, cannot accurately identify the identity and the specific position of the load, cannot adapt to unmanned aerial vehicle charging control under a complex scene, and can normally start a wireless charging device when a metal foreign matter exists or a non-adaptive load approaches or the unmanned aerial vehicle falls at an offset position, so that the situation of invalid energy consumption aggravation and energy waste can be caused.

Disclosure of Invention

The invention aims to overcome the defect that a load identification function of an unmanned aerial vehicle charging device in the prior art cannot accurately identify a load identity and a specific position and cannot cope with unmanned aerial vehicle charging control under a complex scene, and provides an anti-offset unmanned aerial vehicle wireless charging device and method based on dual load identification.

The invention aims at realizing the following technical scheme:

anti skew unmanned aerial vehicle wireless charging device based on dual load discernment includes:

The charging module comprises a transmitting coil and a receiving coil arranged on the unmanned aerial vehicle to be charged, and is used for establishing an electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged and carrying out wireless energy transmission;

the identification control module is connected with the transmitting coil and used for identifying the pressure trigger area to determine the landing area of the unmanned aerial vehicle to be charged and controlling the transmitting coil to be connected with the communication state identification result;

the power supply module is respectively connected with the charging module and the identification control module and is used for providing working voltage for the charging module and the identification control module.

Accurate position judgment to unmanned aerial vehicle load is realized through the pressure trigger area to clear and determine unmanned aerial vehicle receiving coil and transmitting coil's relative position, avoid the skew problem of charging because of the fuzzy result of position perception. Meanwhile, the identity of the load which is checked to exist is identified through the communication state, so that interference of non-adaptive load or foreign matters is avoided, and invalid charging starting caused by identity misjudgment is avoided. And then combining the position judgment and the identification result of the load identity to dynamically control the access of the transmitting coil, so as to reduce unnecessary coil operation, thereby reducing the idle energy consumption when no adaptive load exists, avoiding the energy consumption loss in the scene of position deviation or identity inconsistency, and realizing the optimization of the energy utilization efficiency and the operation stability of the wireless charging device.

Further, the transmitting coils comprise a first transmitting coil, a second transmitting coil and a third transmitting coil which are arranged in different areas, and a corresponding acrylic supporting plate is arranged between each transmitting coil.

Further, the identification control module includes:

The first pressure sensor is arranged at the acrylic supporting plate between the first transmitting coil and the second transmitting coil;

The second pressure sensor is arranged at the acrylic supporting plate between the second transmitting coil and the third transmitting coil;

The communication state identification unit comprises a Bluetooth transmitting end and a Bluetooth receiving end arranged on the unmanned aerial vehicle to be charged;

And the control unit is respectively connected with the first pressure sensor, the second pressure sensor and the communication state identification unit and is used for identifying a pressure trigger area according to the trigger conditions of the first pressure sensor and the second pressure sensor, controlling the connection of the transmitting coil by combining the communication state between the Bluetooth transmitting end and the Bluetooth receiving end and selecting the connected transmitting coil.

Further, the identification control module further includes:

the switch control unit comprises a first control switch connected with the first transmitting coil, a second control switch connected with the second transmitting coil and a third control switch connected with the third transmitting coil, and is used for responding to the control unit and selecting the transmitting coil connected by switching the on-off state of each control switch.

Further, the charging module further includes:

the transmitting end resonance topology is used for establishing an electromagnetic relationship with the unmanned aerial vehicle to be charged according to the accessed transmitting coil;

the input end of the high-frequency inverter is connected with the power module, and the output end of the high-frequency inverter is respectively connected with the transmitting coil and the transmitting end resonant topology and is used for providing excitation signals for the transmitting coil and the transmitting end resonant topology.

Further, the charging module further includes:

and the receiving end resonant topology is arranged on the unmanned aerial vehicle to be charged, is connected with the receiving coil and is used for establishing the electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged according to the receiving coil, the transmitting coil and the transmitting end resonant topology.

Further, the power module includes:

The input end of the direct current input power supply is connected with the three-phase power frequency alternating current power supply through a power frequency alternating current interface, and the output end of the direct current input power supply is connected with the charging module and is used for providing working voltage for the charging module;

The input end of the direct current auxiliary power supply is connected with the three-phase power frequency alternating current power supply through a power frequency alternating current interface, and the output end of the direct current auxiliary power supply is connected with the identification control module and is used for providing working voltage for the identification control module.

Anti-offset unmanned aerial vehicle wireless charging method based on dual load identification is applied to the anti-offset unmanned aerial vehicle wireless charging device described in any one of the above, and comprises the following steps:

acquiring sensing data of the first pressure sensor and the second pressure sensor in real time, identifying a pressure trigger area according to the sensing data, and identifying a communication state with the unmanned aerial vehicle to be charged;

When communication with the unmanned aerial vehicle to be charged is identified, and a pressure trigger area exists, a transmitting coil is selected according to the pressure trigger area;

switching on and off states of the control switches, controlling the selected transmitting coil to be connected in, establishing an electromagnetic relationship between the selected transmitting coil and a battery of an unmanned aerial vehicle to be charged, and performing wireless energy transmission;

And when the communication with the unmanned aerial vehicle to be charged is not established or the pressure trigger area is not existed, the transmitting coil is kept to be disconnected.

Further, the selecting a transmitting coil according to the pressure triggering area includes:

when the sensing data of the first pressure sensor shows that a pressure trigger area exists and the sensing data of the second pressure sensor shows that the pressure trigger area does not exist, determining that the pressure trigger area is the area where the first transmitting coil is located, and selecting the first transmitting coil as an accessed transmitting coil;

when the sensing data of the first pressure sensor and the second pressure sensor both show that a pressure trigger area exists, determining the pressure trigger area as an area where the second transmitting coil is located, and selecting the second transmitting coil as an accessed transmitting coil;

And when the sensing data of the second pressure sensor shows that the pressure trigger area exists and the sensing data of the first pressure sensor shows that the pressure trigger area does not exist, determining that the pressure trigger area is the area where the third transmitting coil is located, and selecting the third transmitting coil as the accessed transmitting coil.

Further, the switching of the on/off states of the control switches controls the access of the selected transmitting coil, including:

when the first transmitting coil is selected as the accessed transmitting coil, the first control switch is controlled to be turned on, the second control switch and the third control switch are controlled to be turned off, and the first transmitting coil is controlled to be accessed;

When the second transmitting coil is selected to be the accessed transmitting coil, the second control switch is controlled to be turned on, the first control switch and the third control switch are controlled to be turned off, and the second transmitting coil is controlled to be accessed;

when the third transmitting coil is selected as the accessed transmitting coil, the third control switch is controlled to be turned on, the first control switch and the second control switch are controlled to be turned off, and the third transmitting coil is controlled to be accessed.

The beneficial effects of the invention are as follows:

(1) Accurate position judgment to unmanned aerial vehicle load is realized through the pressure trigger area to clear and determine unmanned aerial vehicle receiving coil and transmitting coil's relative position, avoid the skew problem of charging because of the fuzzy result of position perception. Meanwhile, the identity of the load which is checked to exist is identified through the communication state, so that interference of non-adaptive load or foreign matters is avoided, and invalid charging starting caused by identity misjudgment is avoided. The connection of the transmitting coil is dynamically controlled by combining the position judgment and the identification result of the load identity, so that unnecessary coil operation is reduced, the idle energy consumption in the condition of no adaptive load is reduced, meanwhile, the energy consumption loss in the condition of position deviation or identity inconsistency is avoided, and the optimization of the energy utilization efficiency and the operation stability of the wireless charging device is realized;

(2) The method comprises the steps of setting a multi-area transmitting coil and zoned pressure sensing, accurately positioning a specific area where the unmanned aerial vehicle to be charged drops through the difference of sensing data of the two pressure sensors, and selecting an adaptive transmitting coil for access. The partition identification and coil switching mode can effectively expand the fault tolerance range of the landing position of the unmanned aerial vehicle to be charged, and even if certain offset exists, the fault tolerance range can be quickly matched with a corresponding transmitting coil, so that the problems of coupling efficiency dip or charging interruption caused by offset of the traditional single coil are avoided;

(3) An independent control switch is arranged for each transmitting coil, after the identity recognition through Bluetooth communication and the pressure triggering area is determined, the control switch corresponding to the transmitting coil is turned on, so that the problem of false triggering caused by environmental interference, non-target approach or hovering can be solved, the accurate control of energy transmission can be realized, and the non-effective energy consumption and energy waste are reduced.

Drawings

FIG. 1 is a schematic view of a construction of the present invention;

Fig. 2 is a schematic structural diagram of an acrylic pallet containing transmitting coil according to an embodiment of the present invention;

FIG. 3 is a schematic diagram showing the result of an acrylic pallet placement pressure sensor according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a wireless charging device composed of a coupler, a PCB board and a unmanned aerial vehicle to be charged according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of an embodiment of the present invention.

The charging device comprises a charging module, 11, a transmitting coil, 111, a first transmitting coil, 112, a second transmitting coil, 113, a third transmitting coil, 114, an acrylic supporting plate, 12, a receiving coil, 13, a transmitting end resonance topology, 14, a high-frequency inverter, 15, a receiving end resonance topology, 16, a magnetic core, 2, an identification control module, 21, a first pressure sensor, 22, a second pressure sensor, 23, a communication state identification unit, 231, a Bluetooth transmitting end, 232, a Bluetooth receiving end, 24, a control unit, 25, a switch control unit, 251, a first control switch, 252, a second control switch, 253, a third control switch, 254, a protection device, 3, a power supply module, 31, a direct current input power supply, 32, a direct current auxiliary power supply, 4, an unmanned aerial vehicle to be charged, 41, an unmanned aerial vehicle battery, 5, a PCB board, 51, an upper PCB,511, a coil interface, 512, a first input end, 513, a first auxiliary end, 52, a middle layer, 521, a power frequency alternating current interface, 522, a second input end, 523, a second auxiliary end, 53, a second auxiliary end, a copper pillar, a PCB, a lower layer, a coupling device, a PCB, a 6 and a column.

Detailed Description

The invention is further described below with reference to the drawings and examples.

Embodiment of the invention an anti-offset unmanned aerial vehicle wireless charging device based on dual load identification, as shown in fig. 1, comprises:

the charging module 1 comprises a transmitting coil 11 and a receiving coil 12 arranged on the unmanned aerial vehicle 4 to be charged, and is used for establishing an electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged and carrying out wireless energy transmission;

the identification control module 2 is connected with the transmitting coil and is used for identifying the pressure trigger area to determine the landing area of the unmanned aerial vehicle to be charged and controlling the transmitting coil to be connected with the communication state identification result;

And the power supply module 3 is respectively connected with the charging module and the identification control module and is used for providing working voltage for the charging module and the identification control module.

The charging module can realize energy transmission between the wireless charging device and the unmanned aerial vehicle through the synergistic effect of the transmitting coil and the receiving coil on the unmanned aerial vehicle to be charged. When the transmitting coil is connected with electric energy, an alternating magnetic field is generated, and the receiving coil on the unmanned aerial vehicle acquires energy from the alternating magnetic field through an electromagnetic induction or magnetic resonance coupling principle, so that wireless transmission of the electric energy from the charging device to the unmanned aerial vehicle is realized. The non-contact energy transmission mode can optimize the dependence of traditional contact charging on mechanical docking, avoid charging faults caused by contact oxidation, abrasion and the like, and realize automatic charging of the unmanned aerial vehicle in an outdoor complex environment.

And the transmitting coils comprise a first transmitting coil 111, a second transmitting coil 112 and a third transmitting coil 113 which are arranged in different areas, and a corresponding acrylic supporting plate 114 is arranged between each transmitting coil.

Through the subregion setting transmitting coil to increase wireless charging device's effective charging range, there is certain position deviation when waiting to charge unmanned aerial vehicle even if it drops, but as long as still be in the region that three transmitting coil covered, also can be through follow-up discernment control module's judgement access corresponding coil, and then improve the fault-tolerant rate of charging module to unmanned aerial vehicle landing position. And the transmitting coil in this embodiment adopts a DD coil, which is placed on the magnetic core 16 to improve transmission efficiency.

And an acrylic supporting plate is arranged between the transmitting coils, the three transmitting coils are physically isolated through the insulating acrylic supporting plate, so that the mutual interference of magnetic fields generated by the working chambers of the adjacent transmitting coils is avoided, and the magnetic field stability of each transmitting coil when independently operating is ensured.

Meanwhile, the acrylic supporting plate can provide a smooth and stable installation carrier for the transmitting coil and isolate the direct erosion of dust, rainwater and other factors in the outdoor environment to the transmitting coil, so that the service life of the transmitting coil is prolonged.

In order to further improve the energy transmission efficiency and the electromagnetic coupling stability of the charging module, the charging module further comprises:

the transmitting end resonance topology 13 is used for establishing an electromagnetic relationship with the unmanned aerial vehicle to be charged according to the accessed transmitting coil;

The input end of the high-frequency inverter 14 is connected with the power supply module, and the output end of the high-frequency inverter is respectively connected with the transmitting coil and the transmitting end resonant topology and is used for providing excitation signals for the transmitting coil and the transmitting end resonant topology.

And the receiving end resonant topology 15 is arranged on the unmanned aerial vehicle to be charged, is connected with the receiving coil and is used for establishing the electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged according to the receiving coil, the transmitting coil and the transmitting end resonant topology.

The resonant topology of the transmitting end works together with the connected transmitting coil, and the transmitting coil generates stronger and more focused alternating magnetic field under specific frequency by utilizing the resonance characteristic of an LC resonant circuit formed by coil inductance and compensation capacitance. When the frequency of the excitation signal provided by the high-frequency inverter is consistent with the inherent resonant frequency of the resonance topology of the transmitting end, the topology presents pure resistance, inductive reactance and capacitive reactance are mutually offset, at the moment, the magnetic field energy loss output by the transmitting coil is minimum, the magnetic field strength is obviously enhanced, and the guarantee can be provided for the subsequent efficient coupling with the receiving end.

The receiving end resonant topology arranged on the unmanned aerial vehicle is connected with the receiving coil to form a receiving side resonant unit, the inherent resonant frequency of the receiving side resonant unit is consistent with the resonant topology of the transmitting end, and the energy can be acquired from the alternating magnetic field of the transmitting end to the maximum extent through the magnetic resonance coupling principle, so that the loss of the magnetic field energy due to frequency mismatch is avoided.

The high-frequency inverter in the embodiment particularly adopts a full-bridge inversion structure, and can provide an accurate and controllable energy excitation source for the charging module. The input end of the electromagnetic induction type alternating magnetic field generator is connected with the power supply module so as to convert direct current output by the power supply module into high-frequency alternating current, and the output end of the electromagnetic induction type alternating magnetic field generator is respectively connected with the transmitting coil and the transmitting end resonant topology so as to provide high-frequency current required by alternating magnetic field generation for the transmitting coil and high-frequency electric energy required by maintaining a resonant state for the transmitting end resonant topology. And the output frequency of the high-frequency inverter is precisely matched with the inherent resonant frequency of the resonance topology of the transmitting end, so that the resonance topology of the transmitting end can be ensured to stably enter a resonance state.

The high-frequency inverter also has the capability of adjusting output power and frequency, and can dynamically adjust the amplitude and frequency of the output high-frequency alternating current according to the instructions of the follow-up identification control module, such as adjusting power according to the charging stage of the unmanned aerial vehicle battery, so that the charging module can adapt to the full-stage charging requirement from constant-current quick charging to constant-voltage trickle charging of the unmanned aerial vehicle, and the problem of battery overcharge or charging efficiency reduction caused by improper power adaptation is avoided.

Meanwhile, in order to avoid false touch charging interference caused by non-adaptive load or metal foreign matters, an identification control module is further arranged, the landing position of the unmanned aerial vehicle to be charged is determined through the identification pressure triggering area, and invalid charging starting caused by non-landing or landing position deviation of the unmanned aerial vehicle is avoided. Meanwhile, the identity of the unmanned aerial vehicle is checked by combining a communication state identification result, and the influence of interference factors such as non-adaptive load or metal foreign matters is eliminated. And only when two recognition conditions are met, the transmitting coil is controlled to be connected, so that the transmitting coil is ensured to run only when the adaptive load exists and the position positioning is accurate, the misjudgment of starting charging or position deviation charging is avoided, and the ineffective energy consumption and energy waste of the wireless charging device are reduced.

Specifically, the identification control module includes:

a first pressure sensor 21 disposed at the acrylic pallet between the first and second transmitting coils;

A second pressure sensor 22 disposed at the acrylic pallet between the second transmitting coil and the third transmitting coil;

the communication state identification unit 23 comprises a Bluetooth transmitting end 231 and a Bluetooth receiving end 232 arranged on the unmanned aerial vehicle to be charged;

The control unit 24 is respectively connected with the first pressure sensor, the second pressure sensor and the communication state identification unit, and is used for identifying a pressure trigger area according to the trigger conditions of the first pressure sensor and the second sensor, controlling the connection of the transmitting coil by combining the communication state between the Bluetooth transmitting end and the Bluetooth receiving end, and selecting the connected transmitting coil.

Based on the regional setting of transmitting coil, further set up the mounted position of first pressure sensor and second sensor to the direct perception waits for the pressure distribution of unmanned aerial vehicle when descending that charges.

When unmanned aerial vehicle falls in different transmitting coil areas, fuselage weight can produce differential pressure to adjacent layer board and trigger, if fall in first transmitting coil area, only be close to first pressure sensor of first coil can be triggered, if fall in second transmitting coil area, first, second pressure sensor can be triggered simultaneously, if fall in third transmitting coil area, only second pressure sensor can be triggered. Through the signal difference of single trigger or double trigger, the landing position of the unmanned aerial vehicle to be charged can be accurately mapped to the corresponding coil area, the problem of fuzzy positioning of the unmanned aerial vehicle to be charged can be effectively avoided, and an accurate position basis is provided for subsequent coil selection.

Meanwhile, the insulation characteristic of the acrylic supporting plate can also protect the pressure sensor from being interfered by a coil magnetic field, stability and accuracy of pressure signals are ensured, and positioning misjudgment caused by magnetic field interference is avoided.

Considering that only the status recognition of whether a load exists can be achieved by the pressure sensor, it is difficult to exclude interference other than adapting the load or foreign matter. Therefore, the communication state identification unit is arranged, and the validity verification of the unmanned aerial vehicle identity is realized through a two-way communication architecture of the Bluetooth transmitting end at the charging device side and the Bluetooth receiving end at the unmanned aerial vehicle side. When the unmanned aerial vehicle enters the charging area, the Bluetooth transmitting end can actively transmit an identity verification request signal, and communication connection can be established only after identity verification is carried out by the Bluetooth transmitting end and the Bluetooth receiving end of the unmanned aerial vehicle side, so that the control unit can further identify whether the current load is an adaptive load or not through the communication state of the Bluetooth transmitting end, and invalid charging starting caused by identity misjudgment is avoided.

In this embodiment, the control unit is a microprocessor, an MCU and other components with data processing capability, and can integrate the sensing data of the pressure sensor and the communication state of the bluetooth transmitting end, so as to realize the identification of the pressure trigger area and the communication state, and control the transmitting coil to be connected according to the identification result, and only when the position area is clear and the identity verification is satisfied by two conditions, the control unit can generate the coil connection instruction, and if only a single condition is satisfied, such as clear position but illegal identity, legal identity but no position signal, the transmitting coil is kept in the closed state, thereby avoiding false start.

And in order to realize the accurate access of transmitting coil, the discernment control module still includes:

The switch control unit 25 includes a first control switch 251 connected to the first transmitting coil, a second control switch 252 connected to the second transmitting coil, and a third control switch 253 connected to the third transmitting coil, and is responsive to the control unit for selecting an accessed transmitting coil by switching on/off states of the control switches.

Through configuration independent control switch for every transmitting coil, realize transmitting coil switch-on's refinement switch, judge when the control unit wait to charge unmanned aerial vehicle and drop in one of them region and pass through the identity verification after, can send the instruction of opening to corresponding control switch, send the instruction of closing to other control switch simultaneously, avoided the energy waste that the simultaneous start of multiturn leads to, ensure that the electric energy only carries to the target coil. In this embodiment, the control switches are all circuit breakers. In order to protect the operation safety of the circuit breaker, a corresponding protection device 254, such as an overcurrent release, is also provided.

Specifically, the control unit can obtain sensing data of the corresponding pressure sensor and identify communication states of the Bluetooth transmitting end through the corresponding GPIO ports, and can also realize on-off control of the control switch through the corresponding GPIO ports.

For example, when the first pressure sensor or the second pressure sensor senses that the weight is changed, the pressure signal is converted into an electric signal and is transmitted to the GPIO port corresponding to the control unit, and the control unit can realize pressure triggering condition identification through the high-low level state corresponding to the GPIO port. Similarly, after the bluetooth transmitting end and the bluetooth receiving end of the unmanned aerial vehicle to be charged establish communication, the level state of the corresponding GPIO port will change, and the control unit can also recognize the communication state of the bluetooth transmitting end by corresponding level state.

When the control requirement for the transmitting coil exists, the control unit can set the GIPO port of the GPIO port corresponding to the corresponding control switch to be high through the high-low level state of the GPIO port so as to realize the on-off of the corresponding control switch, and further realize the access of the corresponding transmitting coil.

Because the charging module needs to be matched with the charging power requirement of the unmanned aerial vehicle battery, larger power needs to be born in the energy transmission process, and the recognition control module mainly carries out signal detection and data processing, so that the energy consumption is lower and the requirement on voltage stability is higher. Therefore, the power supply module for differentially supplying power is arranged for the energy consumption requirement difference of the charging module and the identification control module, so that stable voltage meeting the high-power transmission requirement can be provided for the charging module, the transmitting coil can generate an alternating magnetic field with enough strength to realize efficient energy transfer, low-ripple and high-stable working voltage can be provided for the identification control module, the problems of pressure detection signal distortion, communication interruption and the like caused by voltage fluctuation are avoided, and the reliability of identification and control logic is ensured.

Specifically, the power module includes:

The input end of the direct current input power supply 31 is connected with the three-phase power frequency alternating current power supply through a power frequency alternating current interface, and the output end of the direct current input power supply is connected with the charging module and is used for providing working voltage for the charging module;

The input end of the direct current auxiliary power supply 32 is connected with the three-phase power frequency alternating current power supply through a power frequency alternating current interface, and the output end of the direct current auxiliary power supply is connected with the identification control module and is used for providing working voltage for the identification control module.

In the embodiment, the direct current input power supply adopts an AC-DC power supply module with 24V and 50W, so that the wireless charging power requirement can be ensured. And the direct-current amplitude power supply adopts an AC-DC power supply module with the voltage of 5V and 15W, so that the power supply to electronic elements such as a control unit and the like can be realized.

For the elements such as the bluetooth receiving end arranged on the unmanned aerial vehicle side, power supply is realized through the unmanned aerial vehicle battery 41 on the unmanned aerial vehicle to be charged, and in order to realize safe charging, a battery charging protection board and a rectifying circuit are further arranged on the unmanned aerial vehicle battery.

In this embodiment, each module unit included in the wireless charging device is disposed on the device main body and the unmanned aerial vehicle side, and the device main body mainly includes two parts, one part is a PCB board, and the other part is a coupler.

The high-frequency inverter and the transmitting end in the charging module are in resonance topology, and the control unit in the identification control module, the Bluetooth transmitting end of the communication state identification unit, the switch control unit and the power module are all arranged on the PCB.

The PCB board includes an upper layer PCB51, a middle layer PCB52 and a lower layer PCB53, and each layer PCB is physically connected to each other through copper posts 54.

The high-frequency inverter, the control unit, the Bluetooth transmitting end and the transmitting end resonant topology are arranged on an upper layer PCB, a direct-current input power supply and a direct-current auxiliary power supply of the power module are arranged on a middle layer PCB, and a first control switch, a second control switch, a third control switch and a corresponding protection device of the switch control unit are arranged in a lower layer PCB.

And the transmitting coil of the charging module and the pressure sensor in the identification control module are arranged in the coupler. In order to realize data transmission and power supply between the module units, a coil interface 511, a first input terminal 512 and a first auxiliary terminal 513 are further provided in the upper layer PCB, and a power frequency ac interface 521, a second input terminal 522 and a second auxiliary terminal 523 are provided in the middle layer PCB.

The second input end is the output end of the direct current input power supply and is connected with the first input end of the upper PCB to serve as the direct current input of the high-frequency inverter, and the second auxiliary end is the output end of the direct current auxiliary power supply and is connected with the first auxiliary end of the upper PCB to serve as the power input of each electronic element.

Each transmitting coil and each pressure sensor are arranged in the coupler, as shown in fig. 2 and 3, the first transmitting coil, the second transmitting coil and the third transmitting coil are arranged on the magnetic core and are sequentially arranged on the acrylic supporting plate, and each pressure sensor is arranged on the other surface of the acrylic supporting plate where the transmitting coil is arranged.

And bluetooth receiving terminal, receiving coil, receiving terminal resonance topology and unmanned aerial vehicle battery all set up the unmanned aerial vehicle side of waiting to charge, and receiving coil's one end is connected with receiving terminal resonance topology, and the other end links to each other with unmanned aerial vehicle battery, and receiving terminal resonance topology then further is connected with unmanned aerial vehicle battery. The Bluetooth receiving end is connected in parallel with two sides of the unmanned aerial vehicle battery, and is powered by the unmanned aerial vehicle battery.

The structural schematic diagram of the wireless charging device composed of the coupler, the PCB board and the unmanned aerial vehicle to be charged in this embodiment is shown in fig. 4.

Another aspect of the present embodiment further provides an anti-offset unmanned aerial vehicle wireless charging method based on dual load identification, as shown in fig. 5, including:

When the unmanned aerial vehicle charging device is put into use, the device is initialized firstly and is connected with power frequency three-phase alternating current, at the moment, each control switch is in an un-closed state, each transmitting coil is in an open-circuit state, and other elements such as a control unit, a Bluetooth transmitting end and the like are in a normal working state.

The unmanned aerial vehicle to be charged flies to the Bluetooth transmitting end and connects the coverage and gradually drops to the in-process of the effective coverage of transmitting coil, and the control unit can real-time supervision first pressure sensor and second pressure sensor's response data to acquire the communication connection condition of Bluetooth transmitting end, when pressure sensor and Bluetooth transmitting end all trigger the action, the corresponding transmitting coil of reselection and control its access realize waiting to charge unmanned aerial vehicle's wireless charging. Under other conditions, the transmitting coil is kept to be disconnected, and energy consumption loss caused by mistaken touch charging is avoided.

And in order to realize accurate and efficient charging of the unmanned aerial vehicle to be charged, a working transmitting coil is selected according to the pressure triggering area. Specifically, the selecting a transmitting coil according to the pressure triggering area includes:

According to the triggering state combination of the first pressure sensor and the second pressure sensor, complete coverage of the whole charging range is achieved, no matter in which partition the unmanned aerial vehicle to be charged falls, the matched transmitting coil can be obtained through the corresponding triggering combination of the pressure sensors, and the fault tolerance of the charging system to the landing position of the unmanned aerial vehicle is improved.

The method for realizing the area positioning and the transmitting coil selection can be realized by judging the triggering states of the first pressure sensor and the second pressure sensor, and the response speed to the wireless charging start can be effectively improved, so that the efficiency and the stability of the whole wireless charging process are improved.

After the transmitting coil to be connected is selected, the control unit further performs directional regulation and control on the corresponding control switch, so that only the target transmitting coil is connected to the wireless charging loop, and meanwhile, the power supply of the non-target transmitting coil is cut off, and energy dispersion and interference caused by parallel operation of multiple coils are avoided.

Specifically, the switching of the on-off state of each control switch controls the access of the selected transmitting coil, including:

Through the accurate control of the independent control switch, the transmitting coil can be connected into an independent power supply relation every time, electric energy dispersion and magnetic field interference caused by multi-coil parallelism are avoided, the coupling efficiency of the target coil is ensured, and the charging efficiency and reliability of wireless charging are further ensured.

The above-described embodiment is only a preferred embodiment of the present invention, and is not limited in any way, and other variations and modifications may be made without departing from the technical aspects set forth in the claims.

Claims

1. Anti skew unmanned aerial vehicle wireless charging device based on dual load discernment, its characterized in that includes:

2. The dual load identification-based anti-offset unmanned aerial vehicle wireless charging device of claim 1, wherein the transmitting coils comprise a first transmitting coil, a second transmitting coil and a third transmitting coil which are arranged in different areas, and a corresponding acrylic supporting plate is arranged between each transmitting coil.

3. The dual load identification-based anti-offset drone wireless charging device of claim 2, wherein the identification control module comprises:

4. The dual load identification-based anti-offset drone wireless charging device of claim 3, wherein the identification control module further comprises:

5. The dual load identification-based anti-offset drone wireless charging device of claim 1, wherein the charging module further comprises:

6. The dual load identification-based anti-offset drone wireless charging device of claim 5, wherein the charging module further comprises:

7. The dual load identification-based anti-offset drone wireless charging device of claim 1, wherein the power module comprises:

8. The anti-offset unmanned aerial vehicle wireless charging method based on dual load identification is applied to the anti-offset unmanned aerial vehicle wireless charging device according to any one of claims 1 to 7, and is characterized by comprising the following steps:

9. The dual load identification based anti-offset drone wireless charging method of claim 8, wherein the selecting a transmit coil according to a pressure trigger area comprises:

10. The dual-load identification-based anti-offset unmanned aerial vehicle wireless charging method of claim 9, wherein the switching the on/off state of each control switch, controlling the selected transmitting coil to be connected, comprises: