Anti-drift magnetic coupling mechanism and design method, charging system and storage medium

Abstract

The present invention discloses an anti-drift magnetic coupling mechanism and design method, a charging system and a storage medium, including a matrix polarity transmitting coil and a receiving coil; the matrix polarity transmitting coil includes a plurality of transmitting coil planar square coil units connected in series; the receiving coil includes a plurality of parallel planar square coil units; the transmitting coil planar square coil unit and the receiving coil planar square coil unit are arranged vertically. The present invention can realize stable coupling between the transmitting end and the receiving end under various offset conditions, avoid coupling failure between the transmitting end and the receiving end caused by offset, improve the reliability of wireless charging of unmanned aerial vehicles, take into account the transmission power, anti-drift performance, electromagnetic interference, easy installation, lightweight and other performance of the system, and can realize coupling of multiple receiving coils with the same transmitting coil, thereby solving the problem of charging multiple unmanned aerial vehicles at the same time.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless charging, and in particular relates to an anti-drift magnetic coupling mechanism and a design method, a charging system and a storage medium. Background Art

[0002] Wireless charging technology has a wide range of application scenarios in inspection equipment such as line inspection drones and wind farm inspection drones. At present, such equipment generally returns to the base station after a period of operation to manually or automatically replace the battery to extend the battery life, but automatic battery replacement requires precise machinery and control devices, and manual battery replacement depends on the cooperation of operators. The degree of automation is low, and this method seriously restricts the inspection range of unmanned equipment and the efficiency of inspection work. Some equipment also replenishes power through contact self-service charging platforms, but this method has problems such as wear and aging, susceptibility to weather and environmental influences, and low reliability. The emergence of wireless charging technology provides a safe and reliable solution to the problem of drone endurance. Domestic and foreign scholars have proposed various magnetic coupling mechanism structures to adapt to the characteristics of drone wireless charging scenarios, such as horizontal offset of the receiving coil when the drone is docked or rotation offset with the vertical line of the fuselage center as the axis.

[0003] At present, the existing parallel disc coils, solenoid structures, cross structures, etc., cannot take into account the transmission power, anti-offset performance, electromagnetic interference, easy installation, lightweight and other aspects. Among them, the contradiction between anti-offset performance and other aspects is particularly prominent. There is an urgent need for a magnetic coupling mechanism with anti-offset capability and the ability to balance multiple performance aspects to fill the gap.

[0004] Wireless charging is an ideal solution for improving the endurance of inspection drones. However, there is currently no magnetic coupling mechanism with outstanding anti-drift capability that can take into account transmission power, anti-drift performance, electromagnetic interference, ease of installation, and lightweight performance. As a result, the typical coil misalignment problem in drone wireless charging scenarios has seriously restricted the practical application of drone wireless charging systems. Summary of the invention

[0005] The purpose of the present invention is to propose an anti-offset magnetic coupling mechanism and design method, a charging system and a storage medium, which can achieve stable coupling between a wireless charging transmitter and a receiver under offset conditions, while taking into account the system's transmission power, anti-offset performance, electromagnetic interference, ease of installation and lightweight performance.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] An anti-drift magnetic coupling mechanism includes a matrix polarity transmitting coil and a receiving coil;

[0008] The matrix polar transmitting coil comprises a plurality of transmitting coil planar square coil units connected in series;

[0009] The receiving coil includes a plurality of parallel planar square coil units;

[0010] The planar square coil unit of the transmitting coil is arranged vertically to the planar square coil unit of the receiving coil.

[0011] Furthermore, the magnetic flux directions of the adjacent transmitting coil plane square coil units are opposite.

[0012] Furthermore, the receiving coil includes two planar square coil units, and the planar square coil units are symmetrically arranged.

[0013] Further, when a planar square coil unit of the receiving coil is located at the center of the planar square coil unit of the transmitting coil, the planar square coil unit of the receiving coil is coupled with the matrix polarity transmitting coil under an offset condition.

[0014] Furthermore, 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 the planar square coil units of the transmitting coil.

[0015] A design method of the anti-offset magnetic coupling mechanism as described above comprises:

[0016] Design a number of transmitting coil planar square coil units connected in series to form a matrix polar transmitting coil;

[0017] Design a number of parallel planar square coil units to form a receiving coil, wherein the mutual inductance of the planar square coil units meets the requirements under the condition that the size limit of the UAV is met;

[0018] The vertically arranged planar square coil unit of the transmitting coil and the planar square coil unit of the receiving coil are simulated under the distance constraint between the planar square coil units of the receiving coil to determine the optimization target, and the size of the planar square coil unit of the transmitting coil under any offset condition is determined according to the optimization target.

[0019] Furthermore, 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 the planar square coil units of the transmitting coil, and d is the distance between the planar square coil units of the receiving coil.

[0020] Furthermore, 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.

[0021] A computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to execute the method for designing an anti-offset magnetic coupling mechanism as described above.

[0022] A wireless charging system for an unmanned aerial vehicle comprises the anti-drift magnetic coupling mechanism as described above.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The anti-drift magnetic coupling mechanism for wireless charging of unmanned aerial vehicles of the present invention can realize stable coupling between the transmitting end and the receiving end under various offset conditions, avoid coupling failure between the transmitting end and the receiving end caused by offset, improve the reliability of wireless charging of unmanned aerial vehicles, and have the advantages of traditional cross-type magnetic coupling mechanisms, taking into account the transmission power, anti-drift performance, electromagnetic interference, easy installation, lightweight and other performances of the system. By further increasing the number of units of the matrix transmitting coil and cooperating with the control means, it is also possible to realize the coupling of multiple receiving coils with the same transmitting coil, thereby solving the problem of charging multiple unmanned aerial vehicles at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the magnetic coupling mechanism of the present invention.

[0026] Figure 2 It is a schematic diagram of the structure of the matrix polarity transmitting coil of the present invention.

[0027] Figure 3 It is a schematic diagram of the receiving coil structure of the present invention.

[0028] In the figure, 1 is a matrix polarity transmitting coil, and 2 is a receiving coil. DETAILED DESCRIPTION

[0029] The present invention is described in detail below with reference to the accompanying drawings.

[0030] In the present invention, the transmitting end is a matrix polarity transmitting coil 1 , and the receiving end is a receiving coil 2 .

[0031] See also Figure 1 The anti-deviation magnetic coupling mechanism for wireless charging of unmanned aerial vehicles of the present invention mainly includes two parts, namely a horizontally placed matrix polarity transmitting coil 1 and two vertically placed and mutually parallel receiving coils 2.

[0032] See also Figure 2 The matrix polarity transmitting coil 1 is composed of a plurality of transmitting coil planar square coil units wound in opposite directions arranged in an interlaced manner, and each planar square coil unit is connected in series so that the same current flows through them. Figure 2The direction of the magnetic flux generated by the current in the middle coil is represented by “·” and “×”, where “·” means that the magnetic flux direction is perpendicular to the plane where the transmitting coil is located and is outward, and “×” means that the magnetic flux direction is perpendicular to the plane where the transmitting coil is located and is inward.

[0033] See also Figure 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 transmitter 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 the other receiving coil unit is still coupled with the matrix polar 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 Wherein L is the side length of the planar square coil unit of the transmitting coil, n is the number of the planar square coil units of the transmitting coil, n=1, 2, 3, ...

[0034] The coupling mechanism of the present invention is used for wireless charging of a drone. Two receiving coils are respectively installed on two landing gears of the drone, so the number of receiving coils is set to two.

[0035] A design method of the anti-offset magnetic coupling mechanism as described above comprises the following steps:

[0036] First, 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 while meeting the size limit of the drone; then the matrix polar transmitting coil 1 at the transmitting end is designed so that when d≠nL and Under the size constraint, when d takes different values, the mutual inductance between the transmitting end and the receiving end is simulated under arbitrary offset conditions of the planar square coil unit of the receiving coil 2 of the receiving end, and a certain optimization target is selected. For example, the average value of the mutual inductance between the transmitting end and the receiving end under arbitrary offset conditions is maximized, and the side length of the planar square coil unit of the transmitting coil is optimized. The size of the planar square coil unit of the transmitting coil that maximizes the average value of the mutual inductance between the transmitting end and the receiving end under arbitrary offset conditions is found. At this point, the overall design of the magnetic coupling mechanism is completed.

[0037] The anti-drift magnetic coupling mechanism for wireless charging of unmanned aerial vehicles proposed in the present invention can realize stable coupling between the transmitting end and the receiving end under various offset conditions, avoid coupling failure between the transmitting end and the receiving end caused by offset, improve the reliability of wireless charging of unmanned aerial vehicles, and have the advantages of traditional cross-type magnetic coupling mechanisms, taking into account the transmission power, anti-drift performance, electromagnetic interference, easy installation, lightweight and other performances of the system. By further increasing the number of units of the matrix transmitting coil and increasing the area of ​​the matrix transmitting coil, it is also possible to achieve coupling of multiple receiving coils with the same transmitting coil, thereby solving the problem of charging multiple unmanned aerial vehicles at the same time.

[0038] The present invention provides an anti-drift magnetic coupling mechanism for wireless charging of drones. By adopting a matrix polar coil structure, a horizontal magnetic flux in a wide range and in all directions is generated at the transmitting end. By adopting a structure of two receiving coils and designing the size parameters of the coupling mechanism, coupling failure in extreme cases is avoided, so that the magnetic coupling mechanism as a whole has a strong anti-drift capability, and the accuracy requirements for drone landing are reduced. At the same time, the transmitting end of the magnetic coupling mechanism proposed by the present invention can also be coupled with multiple receiving ends at the same time to realize simultaneous charging of multiple drones.

[0039] A wireless charging system for an unmanned aerial vehicle comprises the anti-drift magnetic coupling mechanism as described above.

[0040] A computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to execute the method for designing an anti-offset magnetic coupling mechanism as described above.

[0041] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0042] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0043] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0044] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0045] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0046] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An anti-deviating magnetic coupling mechanism, characterized in that: It comprises a matrix polarity transmitting coil (1) and a receiving coil (2); The matrix polarity transmitting coil (1) comprises a plurality of transmitting coil planar square coil units connected in series; The receiving coil (2) comprises a plurality of parallel planar square coil units; The planar square coil unit of the transmitting coil is arranged vertically to the planar square coil unit of the receiving coil (2); The magnetic flux directions of the adjacent transmitting coil plane square coil units are opposite; The receiving coil (2) comprises two planar square coil units, which are symmetrically arranged; When a planar square coil unit of the receiving coil (2) is located at the center of a planar square coil unit of the transmitting coil, a planar square coil unit of the receiving coil (2) is coupled with the matrix polar transmitting coil (1) under an offset condition; The distance d between the planar square coil units of the receiving coil (2) satisfies d ≠ nL and d ≠ nL ,in L is the side length of the square coil unit of the transmitting coil plane, and n is the number of the square coil units of the transmitting coil plane.

2. A design method for an anti-deviating magnetic coupling mechanism, characterized in that: include: The anti-deviation magnetic coupling mechanism comprises a matrix polarity transmitting coil (1) comprising a plurality of transmitting coil planar square coil units connected in series; The receiving coil (2) comprises a plurality of parallel planar square coil units; The planar square coil unit of the transmitting coil is arranged vertically to the planar square coil unit of the receiving coil (2); The design method comprises designing a plurality of planar square coil units of transmitting coils connected in series to form a matrix polar transmitting coil (1); Designing a plurality of parallel planar square coil units to form a receiving coil (2), wherein the planar square coil units have a mutual inductance that meets the requirements while meeting the size limit of the drone; A simulation is performed on a planar square coil unit of a transmitting coil and a planar square coil unit of a receiving coil (2) which are arranged vertically, under a distance constraint between the planar square coil units of the receiving coil (2), to determine an optimization target, and a size of the planar square coil unit of the transmitting coil under any offset condition is determined according to the optimization target; The distance constraint between the planar square coil units of the receiving coil (2) is d ≠ nL and d ≠ nL ,in, L is the side length of the planar square coil unit 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; The optimization goal is to maximize the average value of the mutual inductance between the receiving coil (2) and the matrix polarity transmitting coil (1) under any offset condition.

3. A wireless charging system for drones, characterized in that: It includes the anti-offset magnetic coupling mechanism as claimed in claim 1.

4. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the method for designing an anti-offset magnetic coupling mechanism according to claim 2 .

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