Strong coupling wireless charging method for UAV based on intelligent trajectory planning of digital ledger

Abstract

The present invention relates to a strong coupling wireless charging method and system for unmanned aerial vehicles based on intelligent trajectory planning of digital ledgers. The method comprises: collecting the upper surface image of the charging platform through the camera of the unmanned aerial vehicle, and identifying the position of the charging transmitting device from the upper surface image, wherein the charging transmitting device comprises a U-shaped ferrite and a movable I-shaped ferrite, and a transmitting coil is arranged in the U-shaped ferrite; controlling the unmanned aerial vehicle to land on the charging platform so that the receiving coil is located above the transmitting coil; controlling the movement of the I-shaped ferrite through the charging platform so that the I-shaped ferrite passes through the receiving coil, and the two ends of the I-shaped ferrite and the two ends of the U-shaped ferrite are attached to form a closed magnetic circuit; energizing the transmitting coil through the charging platform so that the transmitting coil transfers electrical energy to the receiving coil located in the closed magnetic circuit through inductive coupling, thereby charging the power supply of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention belongs to the field of wireless charging technology, and generally relates to a method and system for wireless charging of unmanned aerial vehicles. In particular, the present invention relates to a method and system for strong coupling wireless charging of unmanned aerial vehicles. Background Art

[0002] Drones have played an important role in power transmission line inspection applications, and with the continuous expansion of power transmission lines, the application of drones is further increasing. However, drones have a short flight time and cannot perform long-distance power transmission line inspection tasks.

[0003] To this end, it is necessary to set up a charging device in the inspection route of the drone, so that the drone can be charged midway during the inspection process, thereby increasing the inspection distance of the drone. At present, there are some wireless charging devices that can realize unattended charging, but the charging coils of these wireless charging devices are set inside, and the drone can only dock on the surface of the wireless charging device for inductive charging. The coupling effect between the charging coil of the wireless charging device and the receiving coil of the drone is poor, resulting in low efficiency of wireless charging, which affects the low efficiency of drone inspection. Summary of the invention

[0004] The present invention provides a strongly coupled wireless charging method and system for unmanned aerial vehicles based on intelligent trajectory planning of digital ledgers, aiming to solve at least one of the technical problems existing in the prior art. The solution of the present invention utilizes a charging transmitter composed of type I ferrite and type U ferrite arranged on a charging platform, and a receiving coil is arranged on the landing gear of the unmanned aerial vehicle. The type I ferrite of the charging transmitter is closed after the unmanned aerial vehicle lands and passes through the receiving coil to form a closed magnetic circuit, thereby realizing wireless charging of the unmanned aerial vehicle. The method of the present invention can charge the unmanned aerial vehicle with a closed magnetic circuit when the unmanned aerial vehicle lands on the charging platform, which can effectively improve the coupling effect of the charging system and improve the charging efficiency of the unmanned aerial vehicle.

[0005] The technical solution of the present invention relates to a strong coupling wireless charging method for a drone based on digital ledger intelligent trajectory planning, wherein the drone comprises a power supply, a camera and a receiving coil, wherein the receiving coil is connected to the power supply.

[0006] Characterized in that the method comprises the following steps:

[0007] A. Capturing an upper surface image of the charging platform through a camera of the drone, and identifying a position of a charging transmitter from the upper surface image, wherein the charging transmitter comprises a U-shaped ferrite and a movable I-shaped ferrite, wherein a transmitting coil is disposed in the U-shaped ferrite;

[0008] B. Controlling the UAV to land on the charging platform so that the receiving coil is located above the transmitting coil;

[0009] C. Controlling the movement of the I-type ferrite through the charging platform so that the I-type ferrite passes through the receiving coil, and the two ends of the I-type ferrite are attached to the two ends of the U-type ferrite to form a closed magnetic circuit;

[0010] D. Powering the transmitting coil through the charging platform allows the transmitting coil to transfer electrical energy to the receiving coil located in the closed magnetic circuit through inductive coupling, thereby charging the power supply of the drone.

[0011] Furthermore, the charging platform is provided with a groove, and the charging transmitter is arranged in the groove.

[0012] The step A comprises the following steps:

[0013] A1. Identifying the position of the groove and the position of the I-type ferrite from the upper surface image;

[0014] A2. Determine that the I-type ferrite is embedded in one side of the groove, and one end of the I-type ferrite does not protrude from the side wall of the groove.

[0015] Furthermore, the UAV includes one or more landing gears, at least one of the landing gears is equipped with the receiving coil, the charging platform includes one or more grooves, at least one of the grooves is equipped with a charging transmitter, and the number of the grooves is the same as the number of the landing gears.

[0016] Wherein, the step A further comprises the following steps:

[0017] A3. Adjust the position of the drone so that at least one landing gear on which the receiving coil is installed is vertically aligned with the groove on which the charging transmitter is installed.

[0018] 4. The method according to claim 3, wherein the receiving coil is fitted on the T-shaped corner of the landing gear, the receiving coil is a coil with a triangular lower end, and step A further comprises the following steps:

[0019] A4. Continue to adjust the position of the drone so that the horizontal position of the I-type ferrite is located between the two waists of the receiving coil.

[0020] Furthermore, the inner window of the U-shaped ferrite is in contact with the inner wall of the groove, and the transmitting coil is wound around the bottom of the U-shaped ferrite.

[0021] The step B comprises the following steps

[0022] B1. Control the UAV to land, so that the landing gear lands in the groove and fits the bottom of the groove, so that the receiving coil is located above the transmitting coil.

[0023] Further, one end of the I-type ferrite is in contact with the surface of one end of the U-type ferrite, the I-type ferrite is embedded in one side of the groove, and the upper surface of the I-type ferrite is at the same height as the upper plane of the charging platform.

[0024] The step C comprises:

[0025] C1. When it is detected that the landing gear has landed in the groove and the engine of the UAV has stopped running, a charging preparation instruction is sent to the controller of the charging platform;

[0026] C2. The charging platform drives the I-type ferrite to move laterally to the opposite side of the groove, so that one end of the I-type ferrite passes through the receiving coil located in the groove and then embeds into the opposite side of the groove, so that the two ends of the I-type ferrite fit with the two ends of the U-type ferrite to form a closed magnetic circuit.

[0027] Further, the step D comprises:

[0028] D1. When the charging platform detects that the two ends of the I-type ferrite and the two ends of the U-type ferrite are attached to form a closed magnetic circuit, the charging platform energizes the transmitting coil, so that the transmitting coil transfers electrical energy to the receiving coil located in the closed magnetic circuit through inductive coupling, thereby charging the power supply of the drone.

[0029] Further, the step D also includes:

[0030] D2. When the charging time reaches a preset time or the power source is fully charged, a charging completion instruction is sent to the controller of the charging platform, so that the charging platform controls the I-type ferrite to move in the reverse direction so that the I-type ferrite no longer passes through the receiving coil;

[0031] D3. Control the UAV to take off.

[0032] The technical solution of the present invention also relates to a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the above method when executed by a processor.

[0033] The technical solution of the present invention also relates to a strong coupling wireless charging system for an unmanned aerial vehicle, comprising: a charging platform, the charging platform comprising one or more grooves, at least one of the grooves having a charging transmitter installed therein, the charging transmitter comprising a U-shaped ferrite and a movable I-type ferrite, a transmitting coil being arranged in the U-shaped ferrite, an inner window of the U-shaped ferrite being fitted with an inner wall of the groove, the transmitting coil being wound around the bottom of the U-shaped ferrite, one end of the I-type ferrite being fitted with a surface of one end of the U-shaped ferrite, the I-type ferrite being embedded in one side of the groove, and an upper surface of the I-type ferrite being at the same height as an upper plane of the charging platform; and the computer-readable storage medium.

[0034] Compared with the prior art, the present invention has the following characteristics.

[0035] 1. The present invention provides a strong coupling wireless charging method for a drone, which can be used to set a receiving coil in the drone. After the drone lands on a charging platform, a movable I-type ferrite in the charging platform passes through the receiving coil and fits with both ends of a U-type ferrite to form a closed magnetic circuit, thereby effectively improving the coupling of a charging transmitter and improving the effect of wireless charging.

[0036] 2. Using the drone's camera to identify the location of the transmitter on the charging platform and then landing, the drone's receiving coil can accurately land on the charging transmitter, achieving precise control of the drone's wireless charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a perspective view of a strong coupling wireless charging system for a drone according to the present invention;

[0038] Figure 2 is a three-dimensional diagram before a closed magnetic circuit is formed according to the present invention;

[0039] Figure 3 is a three-dimensional diagram after a closed magnetic circuit is formed according to the present invention;

[0040] Figure 4 is a perspective view of a charging transmitter according to the present invention;

[0041] Figure 5 is a perspective view of a receiving coil according to the present invention;

[0042] Figure 6 is a flow chart of a strong coupling wireless charging method for a drone according to the present invention;

[0043] Figure 7 is a schematic diagram of mapping a charging platform to a plane coordinate system according to the present invention;

[0044] Figure 8 It is a schematic diagram of performing HOUGH transformation on the upper surface image according to the present invention. DETAILED DESCRIPTION

[0045] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in combination with the embodiments and drawings to fully understand the purpose, scheme and effect of the present invention.

[0046] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to another feature, or it may be indirectly fixed or connected to another feature. The singular forms "a", "said" and "the" used herein are also intended to include the plural forms, unless the context clearly indicates otherwise. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. The terms used in this specification are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" used herein includes any combination of one or more of the related listed items.

[0047] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element. The use of any and all examples or exemplary language ("for example", "such as", etc.) provided herein is intended only to better illustrate embodiments of the present invention, and unless otherwise required, will not impose limitations on the scope of the present invention. In addition, the industry term "posture" used herein refers to the position and attitude of a certain element relative to a spatial coordinate system.

[0048] Reference Figure 1 , a structural diagram of a strong coupling wireless charging system for a drone according to the present invention. It includes a drone 100 and a charging platform 200. Figure 1 and Figure 2 The drone 100 includes two inverted T-shaped landing gears 110, in which a receiving coil 120 is disposed. Figure 5 The lower end of the receiving coil 120 is triangular, and the lower end of the receiving coil 120 fits into the T-shaped corner of the landing gear, so that the receiving coil 120 can be as close to the transmitting coil in the charging platform 200 as possible after landing, effectively improving the efficiency of wireless charging.

[0049] Continue to refer to Figure 1In some embodiments, the charging platform 200 is further provided with two grooves 210, and the positions of the two grooves 210 correspond to the positions of the landing gear 110, so that the lower end of the landing gear 110 can be embedded in the groove 210 after the drone 100 lands. And, a charging transmitter is provided in the groove 210, referring to Figure 4 The charging transmitter device includes an I-type ferrite 221 and a U-type ferrite 222. The upper surface of the U-type ferrite 222 is in contact with the lower surface of the I-type ferrite 221. A transmitting coil 223 is wound around the lower end of the U-type ferrite 222. The inner window of the U-type ferrite 222 is in contact with the inner wall of the groove 210. The U-type ferrite 222 is hidden inside the groove 210. Figure 2 When not charging, the I-type ferrite 221 is embedded in the side wall of the groove 210 to avoid interference with the landing gear 110. When the landing gear 110 lands in the groove 210, refer to Figure 3 , the I-type ferrite 221 passes through the transmitting coil 223 and is inserted into the other side of the groove 210, thereby forming a closed magnetic circuit with the U-type ferrite 222. Since the transmitting coil 223 is located below the receiving coil 120, when the transmitting coil 223 is powered on, the electric energy can be transferred to the receiving coil 120 through inductive coupling to complete the charging of the drone 110, and since the I-type ferrite 221 passes through the receiving coil 120, the closed magnetic circuit coupling effect is better, which can effectively improve the charging efficiency.

[0050] In some embodiments, the camera of the drone 110 can be set at the bottom of the fuselage to capture images of the charging platform 200 to identify the position of the groove 210 in the charging platform 200 and ensure the accuracy of landing.

[0051] In some embodiments, the drone 110 and the charging platform 200 can communicate via a wireless network to achieve communication of various instructions. For example, the drone 110 informs the charging platform 200 to retract the I-type ferrite 221 before landing, and the drone 110 sends a charging preparation instruction to the charging platform 200 after landing, so that the charging platform 200 controls the I-type ferrite 221 to move to form a closed magnetic circuit.

[0052] In some embodiments, the charging platform 200 can also detect the landing of the drone 100 through sensors. For example, the type I ferrite 221 remains in a storage state when not charged. When the pressure sensor senses that the drone 100 has landed in the groove 210, the type I ferrite 221 is controlled to move to form a closed magnetic circuit, and then the transmitting coil 223 is energized to achieve wireless charging.

[0053] Reference Figure 6 In some embodiments, the strong coupling wireless charging method for a drone according to the present invention comprises the following steps:

[0054] A. Capturing an upper surface image of the charging platform through a camera of the drone, and identifying the position of a charging transmitter from the upper surface image, wherein the charging transmitter comprises a U-shaped ferrite and a movable I-shaped ferrite, and a transmitting coil is disposed in the U-shaped ferrite; this step A may specifically include the following steps:

[0055] A1. Identify the position of the groove and the position of the I-type ferrite from the upper surface image.

[0056] After the drone moves over the charging platform, the drone and the charging platform are not necessarily aligned in the vertical direction. Therefore, after the drone obtains the upper surface image through the camera, the position and angle of the charging platform can be identified from the upper surface image through the rectangle detection algorithm, thereby determining the coordinates and position of the charging platform relative to the drone, so as to facilitate the drone to accurately land at the charging position in the subsequent process. The specific algorithm of rectangle detection based on HOUGH is as follows.

[0057] Reference Figure 7 , identify the rectangle from the upper surface image and map it to the plane coordinate system. The four vertices of the rectangle are recorded as P1, P2, P3, and P4, where the length of the rectangle is a, the width is b, a1 is the angle between the length and the origin of the coordinate system, and a0 is the angle between the width and the origin of the coordinate system. The polar coordinate equation of the line is as follows: ρ=x*cosθ+y*sinθ, which can be converted to k=(-cosθ1) / (sinθ1)y=k*x+b, and b=ρ1 / (sinθ1)+oy-ox*k, where (ox, oy) are the center coordinates. C(ρ, θ) represents the cumulative value array.

[0058] Reference Figure 8 , perform HOUGH transformation on the upper surface image, select a point from the area of ​​the charging platform, and perform the following search between the distances [Dmin, Dmax], and enhance the C = (ρ, θ) model during the search process. The polar coordinates of the four vertices are H1 = (ρ1, θ1), H2 = (ρ2, θ2), H3 = (ρ3, θ3), and H4 = (ρ4, θ4). In order to determine that the charging platform is a rectangle, it is necessary to determine that the four vertices are symmetrical in pairs, and the two pairs of opposite sides formed are equal, that is, the lengths of the two long sides are equal, and the lengths of the two wide sides are equal, that is, the following conditions are met: (1) When θ = a1, H1 and H2 are formed, that is, there are points H1 and H2; when θ = α0, H3 and H4 are formed, that is, there are points H3 and H4. (2)ρ1+ρ2=0 and ρ3+ρ4=0; (3)|α1–α0|=90, then the long side and the wide side are perpendicular; (4) C(ρ1, θ1)=C(ρ2, θ2)=b; C(ρ3, θ3)=C(ρ4, θ4)=a; (5)ρ1-ρ2=a; ρ3-ρ4=b.

[0059] Continue to refer to Figure 8 , taking the case where the straight line i is formed by H1 and H2, and the straight line j is formed by H2 and H3 as an example. A threshold value Tθ is selected. When the straight lines i and j satisfy the following conditions, it can be determined that they are relevant: △θ = |θi – θj| < Tθ, △ρ = |ρi + ρj| < Tρ, C(ρi, θi – C(ρj, θj| < TL*(C(ρi, θi) + C(ρj, θj)) / 2. If the above conditions are met, then the straight lines i and j are relevant. On this basis, let Pk = (+ / -Уk, αk), αk = 1 / 2*(θi + θj); Уk = 1 / 2*(ρi - ρj); a threshold value Tα is selected. When △α = ||αk - αl| – 90’| < Tα, where αl is the inclination angle of the reference straight line Pl, the straight lines Pk and Pl are perpendicular. Thus, the direction angle αk of the center point of the rectangle can be calculated.

[0060] Therefore, during the landing process of the drone, when implementing the above-mentioned rectangle detection algorithm on the image of the charging platform captured, the coordinate system (o’-xy) can be regarded as the self-coordinate of the drone, and the x-axis and y-axis of this coordinate system (o’-xy) are set to have the same direction as Figure 7 the coordinate system (o-xy). Then, by solving the value of αk through the algorithm, the attitude rotation angle adjustment value (αc, αc is generally equal to αk) of the drone is obtained, and the displacement adjustment values (xc, yc) of the center point (o’x, o’y) of the coordinate system (o’-xy) relative to the center point (ox, oy) of the coordinate system (o-xy) are solved. Then, αc, xc, and yc can be sent to the motion controller of the drone, and the drone is gradually adjusted to move along the x and / or y directions (preferably, the displacement for each control cycle is xc / 2 and yc / 2 to avoid overshoot of the drone's position), and the drone is rotated by αc (preferably, the rotation angle for each control cycle is αc / 2 to avoid overshoot of the drone's attitude) until the αk detected by the next call of the rectangle detection algorithm is less than a preset threshold value (such as 3 - 5°), then it is regarded that the drone hovers directly above the charging platform. It should be understood that when the drone adjusts its attitude each time to further align with the charging platform, the image of the charging platform captured will further appear less skewed.

[0061] A2. Determine that the I-shaped ferrite is embedded in one side of the groove, and one end of the I-shaped ferrite does not protrude from the side wall of the groove.

[0062] Since the I-shaped ferrite is movable and its movability needs to be utilized to form a closed magnetic circuit with the receiving coil and the U-shaped ferrite, the I-shaped ferrite can be embedded in one side of the groove and driven to move by a driving structure such as a motor. Before landing, it is necessary to ensure that one end of the I-shaped ferrite does not protrude from the side wall of the groove to avoid interference with the landing gear.

[0063] A3. Adjust the position of the drone so that at least one landing gear on which the receiving coil is installed is vertically aligned with the groove on which the charging transmitter is installed.

[0064] In some embodiments, it is not necessary to provide a charging transmitter in each groove. In this case, it is necessary to ensure that at least one landing gear equipped with a receiving coil is aligned with the groove equipped with the charging transmitter to meet the charging efficiency requirements of the drone.

[0065] In some embodiments, the adjustment of the drone position in step A3 can be performed before or after landing. For the scenario of adjustment before landing, the drone can identify the position of the groove through a camera in the air, and thus align the groove in the vertical direction; for the scenario of adjustment after landing, the drone can enter the groove by moving horizontally after landing on the charging platform.

[0066] A4. Continue to adjust the position of the drone so that the horizontal position of the I-type ferrite is located between the two waists of the receiving coil.

[0067] B. Control the drone to land on the charging platform so that the receiving coil is located above the transmitting coil. This step B may specifically include the following steps:

[0068] B1. Control the UAV to land, so that the landing gear lands in the groove and fits the bottom of the groove, so that the receiving coil is located above the transmitting coil.

[0069] C. Controlling the movement of the I-type ferrite through the charging platform so that the I-type ferrite passes through the receiving coil, and the two ends of the I-type ferrite are attached to the two ends of the U-type ferrite to form a closed magnetic circuit; this step C may specifically include the following steps:

[0070] C1. When it is detected that the landing gear has landed in the groove and the engine of the UAV has stopped running, a charging preparation instruction is sent to the controller of the charging platform;

[0071] C2. The charging platform drives the I-type ferrite to move laterally to the opposite side of the groove, so that one end of the I-type ferrite passes through the receiving coil located in the groove and then embeds into the opposite side of the groove, so that the two ends of the I-type ferrite fit with the two ends of the U-type ferrite to form a closed magnetic circuit.

[0072] D. Powering the transmitting coil through the charging platform, so that the transmitting coil transfers electrical energy to the receiving coil located in the closed magnetic circuit through inductive coupling, thereby charging the power supply of the drone. This step D may specifically include the following steps:

[0073] D1. When the charging platform detects that the two ends of the I-type ferrite and the two ends of the U-type ferrite are attached to form a closed magnetic circuit, the charging platform energizes the transmitting coil, so that the transmitting coil transfers electrical energy to the receiving coil in the closed magnetic circuit through inductive coupling, thereby charging the power supply of the drone;

[0074] D2. When the charging time reaches a preset time or the power source is fully charged, a charging completion instruction is sent to the controller of the charging platform, so that the charging platform controls the I-type ferrite to move in the reverse direction so that the I-type ferrite no longer passes through the receiving coil;

[0075] D3. Control the UAV to take off.

[0076] It should be appreciated that the method steps in the embodiments of the present invention can be implemented or implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The method can use standard programming techniques. Each program can be implemented in a high-level process or object-oriented programming language to communicate with a computer system. However, if necessary, the program can be implemented in an assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, the program can be run on a programmed ASIC for this purpose.

[0077] Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and / or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) that is executed collectively on one or more processors, by hardware, or a combination thereof. The computer program includes a plurality of instructions that may be executed by one or more processors.

[0078] Further, the method can be implemented in any type of computing platform that is operably connected to a suitable computer, including but not limited to a personal computer, a minicomputer, a mainframe, a workstation, a network or distributed computing environment, a separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, etc. Various aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optical read and / or write storage medium, a RAM, a ROM, etc., so that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the process described herein. In addition, the machine-readable code, or portions thereof, can be transmitted via a wired or wireless network. When such media includes instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor, the invention described herein includes these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques of the present invention, the present invention can also include the computer itself.

[0079] The computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the converted data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on the display.

[0080] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the present invention. Within the scope of protection of the present invention, its technical scheme and / or implementation method may have various modifications and changes.

Claims

1. A strong coupling wireless charging method for a drone based on digital ledger intelligent trajectory planning, the drone comprising a power supply, a camera and a receiving coil, the receiving coil being connected to the power supply, It is characterized in that The method comprises the following steps: A. Capturing an upper surface image of the charging platform through a camera of the drone, and identifying the position of a charging transmitter from the upper surface image, wherein the charging transmitter comprises a U-shaped ferrite and a movable I-shaped ferrite, wherein a transmitting coil is disposed in the U-shaped ferrite; B. Controlling the UAV to land on the charging platform so that the receiving coil is located above the transmitting coil; C. Controlling the movement of the I-type ferrite through the charging platform so that the I-type ferrite passes through the receiving coil, and the two ends of the I-type ferrite are attached to the two ends of the U-type ferrite to form a closed magnetic circuit; D. Powering the transmitting coil through the charging platform so that the transmitting coil transfers electrical energy to the receiving coil in the closed magnetic circuit through inductive coupling to charge the power supply of the drone; The charging platform is provided with a groove, and the charging transmitter is arranged in the groove. The step A comprises the following steps: A1. Identifying the position of the groove and the position of the I-type ferrite from the upper surface image; A2. Determine that the I-type ferrite is embedded in one side of the groove, and one end of the I-type ferrite does not protrude from the side wall of the groove; The drone includes one or more landing gears, the receiving coil is fitted and installed at the T-shaped corner of the landing gear, and the receiving coil is a coil with a triangular lower end. After step A2, the following steps are also included: Adjust the position of the drone so that the horizontal position of the I-type ferrite is located between the two waists of the receiving coil; The inner window of the U-shaped ferrite is fitted with the inner wall of the groove, and the transmitting coil is wound around the bottom of the U-shaped ferrite; One end of the I-type ferrite is in contact with the surface of one end of the U-type ferrite, the I-type ferrite is embedded in one side of the groove, and the upper surface of the I-type ferrite is at the same height as the upper plane of the charging platform. The step C comprises: C1. When it is detected that the landing gear has landed in the groove and the engine of the UAV has stopped running, a charging preparation instruction is sent to the controller of the charging platform; C2. The charging platform drives the I-type ferrite to move laterally to the opposite side of the groove, so that one end of the I-type ferrite passes through the receiving coil located in the groove and then embeds into the opposite side of the groove, so that the two ends of the I-type ferrite fit with the two ends of the U-type ferrite to form a closed magnetic circuit.

2. The method according to claim 1, wherein at least one of the landing gears is equipped with the receiving coil, the charging platform comprises one or more grooves, at least one of the grooves is equipped with a charging transmitter, and the number of the grooves is the same as the number of the landing gears. in, The step A also includes the following steps: A3, adjusting the position of the drone so that at least one landing gear on which the receiving coil is installed is vertically aligned with the groove on which the charging transmitter is installed.

3. The method according to claim 2, wherein: The step B comprises the following steps: B1. Control the UAV to land, so that the landing gear lands in the groove and fits the bottom of the groove, so that the receiving coil is located above the transmitting coil.

4. The method according to claim 1, wherein: The step D comprises: D1. When the charging platform detects that the two ends of the I-type ferrite and the two ends of the U-type ferrite are attached to form a closed magnetic circuit, the charging platform energizes the transmitting coil, so that the transmitting coil transfers electrical energy to the receiving coil located in the closed magnetic circuit through inductive coupling, thereby charging the power supply of the drone.

5. The method according to claim 4, wherein: The step D also includes: D2. When the charging time reaches a preset time or the power source is fully charged, a charging completion instruction is sent to the controller of the charging platform, so that the charging platform controls the I-type ferrite to move in the reverse direction so that the I-type ferrite no longer passes through the receiving coil; D3. Control the UAV to take off. 6 . A computer-readable storage medium having program instructions stored thereon, wherein the program instructions, when executed by a processor, implement the method according to any one of claims 1 to 5.

7. A strong coupling wireless charging system for an unmanned aerial vehicle based on digital ledger intelligent trajectory planning, the unmanned aerial vehicle comprises a power supply, a camera and a receiving coil, the receiving coil is connected to the power supply, characterized in that: The system comprises: A charging platform, wherein the charging platform comprises one or more grooves, wherein at least one of the grooves is provided with a charging transmitter, wherein the charging transmitter comprises a U-shaped ferrite and a movable I-shaped ferrite, wherein a transmitting coil is provided in the U-shaped ferrite, wherein an inner window of the U-shaped ferrite is fitted with an inner wall of the groove, wherein the transmitting coil is wound around the bottom of the U-shaped ferrite, wherein one end of the I-shaped ferrite is fitted with a surface of one end of the U-shaped ferrite, wherein the I-shaped ferrite is embedded in one side of the groove, and wherein an upper surface of the I-shaped ferrite is at the same height as an upper plane of the charging platform; The computer readable storage medium of claim 6.

Images