An automatic charging platform suitable for multiple small unmanned aerial vehicles

Abstract

The application of a kind of automatic charging platform suitable for multiple small unmanned aerial vehicles belongs to the technical field of electronic equipment, and its structure has a pressure sensing module (1), a single-chip microcomputer control module (2), a ring distributor interface circuit (3), a load identification module (4), an intelligent power-off circuit (5), an inverter drive circuit (6), and a charging system moving module (7). The application is based on single-chip microcomputer control, and the main purpose is to provide a wireless charging platform suitable for multiple small unmanned aerial vehicles. When one or more unmanned aerial vehicles are parked on the platform, the charging coil can be automatically moved under one unmanned aerial vehicle and automatically charged wirelessly. When fully charged, the charging coil is automatically moved under the next unmanned aerial vehicle for wireless charging, making the use convenient. The inverter drive circuit in the output channel always works at the best voltage, improving the charging efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of electronic devices, and in particular relates to an automatic charging platform that uses a pressure sensor to detect the position of a drone for wireless charging. Background Technology

[0002] "Unmanned aerial vehicle" (UAV), or "unmanned aircraft," broadly refers to various remotely controlled flying vehicles that do not require a pilot. Due to their high speed and accurate target acquisition, UAVs were initially used in the military. In the 1990s, with the rapid development of Microelectromechanical Systems (MEMS) technology and the continuous improvement of microcontroller performance, multi-rotor UAVs equipped with small inertial navigation systems emerged. This sparked a revolution in the miniaturization and civilian application of UAVs. In recent years, UAVs have been increasingly used in aerial photography, express delivery, environmental monitoring, and equipment inspection. Currently, the domestic market for small UAVs in my country is developing rapidly, and their application scenarios are constantly expanding. However, most UAVs on the market currently use wired charging, which is extremely inconvenient when charging outdoors, limiting their large-scale use. Meanwhile, wireless charging technology has matured in recent years and has been successfully applied to a certain extent in automobiles, mobile phones, and small home appliances. Compared to wired power transmission, wireless charging is not limited by space and has no connectors or exposed conductors, making it more suitable for powering small UAVs.

[0003] The closest prior art to this application includes: Chinese Patent CN110789369, "A Drone Charging Platform and Charging Method Based on Wireless Charging," which makes innovations in coil electromagnetic optimization; and Chinese Patent 2018108887219, "An Electro-adaptive Wireless Energy Transmission System," which makes some improvements to the wireless charging transmission system in impedance matching. However, the above patents also have certain drawbacks: 1. The above wireless chargers have poor scalability; a single charger can only charge a single drone device, making them unsuitable for use scenarios requiring large-scale charging, such as small drones.

[0004] In conclusion, there is still room for improvement in existing drone charging and launching systems. Summary of the Invention

[0005] The main objective of this invention is to provide a wireless charging platform suitable for multiple small drones. When one or more drones are parked on the platform, the charging coil can be automatically moved under one drone and wirelessly charged. Once fully charged, it can be automatically moved under the next drone for wireless charging.

[0006] The specific technical solution of the present invention is as follows:

[0007] An automatic charging platform suitable for multiple small drones comprises a pressure sensing module 1, a microcontroller control module 2, a ring distributor interface circuit 3, a load identification module 4, an intelligent power-off circuit 5, an inverter drive circuit 6, and a charging system moving module 7. The pressure sensing module 1 outputs the collected information, processes it, and transmits it to the microcontroller control module 2. The output signal S1 of the microcontroller control module 2 is ultimately output as two pulse signals through the ring distributor interface circuit 3 and transmitted to the charging system moving module 7. The output of the load identification module 4 is connected to the microcontroller control module 2. The output signal S2 of the microcontroller control module 2 controls the intelligent power-off module 5, which provides power to the inverter drive circuit 6.

[0008] The pressure sensing module 1 is a pressure sensor array composed of 16 thin-film pressure sensors. The pressure sensing circuit structure is as follows: the non-inverting input terminal of operational amplifier U25B is connected to one end of resistor R12, one end of resistor R13, and one end of capacitor C8; the other end of resistor R12 is connected to power supply VCC; the other end of capacitor C8 is connected to the other end of resistor R13 and grounded; one end of resistor R18 is connected to one end of resistor R17, one end of resistor R21, and one end of resistor R19; the other end of R18 is connected to the inverting input terminal of operational amplifier U25B; the other end of resistor R19 is grounded; the output terminal of operational amplifier U25B is connected to the inverting input terminal of operational amplifier U25B, one end of resistor R15, and the movable contact of variable resistor R14; the movable contact of variable resistor R14... One end of the variable resistor R14 is connected to the other end of the resistor R16. The other end of the resistor R16 is connected to the other end of the resistor R15. One end of the resistor R20 is connected to one end of the pressure sensor U1. The other end of the pressure sensor U1 is grounded. The positive input terminal of the operational amplifier U25A is connected to the other end of the resistor R20 and one end of the resistor R22. The other end of the resistor R22 is grounded. The inverting input terminal of the operational amplifier U25A is connected to the other end of the resistor R21 and one end of the resistor R23. The output terminal of the operational amplifier U25A is connected to the other end of the resistor R23, one end of the capacitor C9 and one end of the resistor R24. The other end of the capacitor C9 is grounded. The other end of the resistor R24 ​​is connected to the analog-to-digital converter U2. The digital signal is output through the analog-to-digital converter output port PT OUT.

[0009] The structure of the load identification module 4 is as follows: one end of capacitor C1 is connected to the power supply VCC, and the other end is connected in series with resistor R1 and connected to pin 9 of microcontroller A1. The other end of resistor R1 is grounded. One end of crystal oscillator Y1 is connected in series with capacitor C2 and connected to pin 18 of microcontroller A1. The other end of capacitor C2 is grounded. The other end of crystal oscillator Y1 is connected in series with capacitor C3 and connected to pin 19 of microcontroller A1. The other end of capacitor C3 is grounded. Pin 20 of microcontroller A1 is directly grounded. Resistor R4 and capacitor C4... The diodes are connected in parallel, with one end connected to pin 26 of microcontroller A1 and the other end grounded. The anode of diode VD1 is connected to the cathode of diode VD3, and the anode of diode VD3 is connected to the anode of diode VD4. The cathode of diode VD4 is connected to the anode of diode VD2, and the cathode of diode VD2 is connected to the cathode of diode VD1. The cathode of diode VD1 is directly grounded. The anode of VD3 is connected to pin 26 of microcontroller A1, and the cathode of VD3 is connected to one end of inductor L2. The other end of inductor L2 is connected to... The anode of VD2 is connected to the transistor. Resistor R5 is connected in parallel with inductor L3, one end of which is connected to capacitor C5, and the other end is directly grounded. Inductor L3 and inductor L2 are mutually coupled. The other end of capacitor C5 is connected to resistor R7, and the other end of resistor R7 is connected to the emitter of transistor Q2. Capacitor C6 is connected in parallel with resistor R8, one end of which is directly grounded, and the other end is connected to the emitter of transistor Q1. The collector of transistor Q1 is connected to resistor R6, and the other end of resistor R6 is connected to the power supply VCC. The base of transistor Q1 is connected to the base of transistor Q2. The collectors of transistors Q2 are connected to one end of resistor R10, and the other end of resistor R10 is connected to power supply VCC. The emitter of transistor Q2 is connected to resistor R9, and the other end of resistor R9 is directly grounded. The base of transistor Q2 is connected to one end of resistor R11 and one end of capacitor C7, and the other end of resistor R11 is directly connected to power supply VCC. The other end of capacitor C7 is connected to the OUT port of obstacle avoidance sensor P1. The GND port of obstacle avoidance sensor P1 is grounded, and the VCC port of obstacle avoidance sensor P1 is connected to power supply VCC.

[0010] The structure of the intelligent power-off circuit 5 is as follows: the power supply is connected to the T1 port of the optocoupler U3 through R34, the T2 port is connected to pin 25 of the microcontroller A1, the T4 port is connected to the base of the transistor Q7, the emitter of the transistor Q7 is grounded, the collector of the transistor Q7 is connected to the cathode of the diode D4, the power supply VCC is connected to the anode of the diode D4 and connected to one end of the resistor R35, the other end of the resistor R35 is connected to the T3 port of the optocoupler U3, the pin 40 of the microcontroller A1 is connected to the power supply VCC, and the pin 5 is connected to the cathode of the diode D4. The single-pole double-throw switch K1 is connected to the power supply 15V, and the contact a is connected to the output port Vref_OUT, which is connected to the port Vref_IN of the inverter drive circuit 6. The on / off state of the normally open contact of the relay can be controlled by changing the switching state of the transistor.

[0011] The inverter drive circuit 6 has the following structure: Pin 1 of the full-bridge driver chip A2 is connected to the input port Vref_IN, and pin 2 is grounded. Capacitors C10 and C11 are connected in parallel, one end of which is connected to pin 1, and the other end is connected to pin 3, and is connected in series with capacitor C12. The other end of capacitor C12 is grounded. Pin 4 is connected to one end of resistor R25, and the other end of resistor R25 is connected to pin 3. Pin 5 is directly connected to ground. Resistors R32 and R33 are connected in parallel, one end of which is connected to pin 6 of the full-bridge driver chip A2, and the other end is connected to… The gate and source of MOSFET Q6 are connected to one end of capacitor C15, and the other end of capacitor C15 is connected to power supply VCC. Inductor L1 is connected in series with one end of capacitor C16, and the other end of capacitor C16 is connected to the drain of MOSFET Q6. The drain of MOSFET Q6 is connected to the source of MOSFET Q5. Resistors R30 and R31 are connected in parallel, one end of which is connected to the gate of MOSFET Q5, and the other end is connected to pin 13 of the full-bridge driver chip A2. The drain of MOSFET Q5 is directly connected to power supply VCC. Resistor R28 and... Resistor R29 is connected in parallel, with one end connected to pin 7 of the full-bridge driver chip A2 and the other end connected to the gate of MOSFET Q4. The source of MOSFET Q4 is directly grounded, and the drain of MOSFET Q4 is connected to pin 12 of the full-bridge driver chip A2, and also connected to the source of MOSFET Q3. The drain of MOSFET Q3 is directly connected to the power supply VCC. Resistors R26 and R27 are connected in parallel, with one end connected to the gate of MOSFET Q3 and the other end connected to pin 9 of the full-bridge driver chip A2. Pin 14 of the full-bridge driver chip A2 is connected to... Capacitor C13, the other end of which is connected to pin 12 of the full-bridge driver chip A2. At the same time, pin 12 of the full-bridge driver chip A2 is connected to the drain of MOSFET Q4 and the source of MOSFET Q3. Pin 10 of the full-bridge driver chip A2 is connected to capacitor C14. The other end of capacitor C14 is connected to pin 8 of the full-bridge driver chip A2. At the same time, pin 8 of the full-bridge driver chip A2 is connected to the drain of MOSFET Q6 and the source of MOSFET Q5. The other end of inductor L1 is connected to pin 12 of the full-bridge driver chip A2.

[0012] The structure of the microcontroller control module 2 is as follows: the S1 ports of decoders U4, U5, U6, and U7 are connected to pin LA of microcontroller A3; the S2 ports of decoders U4, U5, U6, and U7 are connected to pin LB of microcontroller A3; the S3 ports of decoders U4, U5, U6, and U7 are connected to pin LC of microcontroller A3; the S4 ports of decoders U4, U5, U6, and U7 are connected to pin LD of microcontroller A3; the G0 port of decoder U4 is connected to pin LE of microcontroller A3 via NOT gate FM1; and the G1 port of decoder U4 is connected to the microcontroller... The LF port of decoder A3 and the G0 port of decoder U5 are connected to the LE pin of decoder A3. The G1 port of decoder U5 is connected to the LF pin of decoder A3 through NOT gate FM2. The G0 port of decoder U6 is connected to the LE pin of decoder A3, and the G1 port of decoder U6 is connected to the LF pin of decoder A3. The G0 port of decoder U7 is connected to the LE pin of decoder A3 through NOT gate FM3, and the G1 port of decoder U7 is connected to the LF pin of decoder A3 through NOT gate FM4. The D1 to D16 pins of decoder U4 are connected to PT respectively. Pins 1-16 of OUT are connected to pins 17-32 of PT OUT, pins D1-D16 of decoder U5 are connected to pins 33-48 of PT OUT, pins D1-D16 of decoder U7 are connected to pins 49-64 of PT OUT, the ENB port of decoders U4, U5, U6, and U7 is grounded, the VCC port of decoders U4, U5, U6, and U7 is connected to the Ui terminal of the TG gate, the VCC power supply port is connected to the Uo terminal of the TG gate, the C port of the TG gate is connected to the D1 port of decoder U9, the C NOT of the TG gate is connected to the D1 port of decoder U9 via the NOT gate FM5, the ENB port of decoder U9 is grounded, and the S1, S2, and S3 ports are connected to the corresponding ports of microcontroller A3; pin 25 of microcontroller A1 is connected to the RST port of microcontroller A3.

[0013] The structure of the charging system moving module 7 is as follows: a Y-axis stepper motor 74 controls the movement of the Y-axis lead screw 71, the Y-axis lead screw 71 is connected to the X-axis platform 76 through a connecting structure 75, and an X-axis stepper motor 73 controls the movement of the X-axis lead screw 77, thereby moving the platform 72.

[0014] The structure of the ring distributor access circuit 3 is as follows: the P3.4 port of the microcontroller A3 is connected to the CK pin of the stepper motor driver chip U8, the P2.0 port of the microcontroller A3 is connected to the U / D pin of the stepper motor driver chip U8, the Q1 and Q2 pins of the stepper motor driver chip U8 are output pins, the output control pulse of the Q1 of the stepper motor driver chip U8 is connected to the X-axis stepper motor, and the output control pulse of the Q2 of the stepper motor driver chip U8 is connected to the Y-axis stepper motor.

[0015] Preferably, in the pressure sensing module 1, capacitors C8 and C9 are 0.01uF, variable resistor R14 is 10kΩ, resistors R22 and R23 are both 2MΩ, resistors R16 and R17 are each 1kΩ, and resistors R15, R17, and R19 are all 120Ω.

[0016] Preferably, the specific model of the microcontroller A1 is STC12C5A6052, the specific model of the full-bridge driver chip A2 is IRS2453, the specific model of the microcontroller A3 is AT89C52, the specific model of the optocoupler U3 is PC817C, the specific models of the decoders U4, U5, U6 and U7 are all 74LS154, and the specific model of the decoder U9 is 74LS138.

[0017] Preferably, in the inverter drive circuit 6, the inductor L1 is 10mH, the capacitor C16 is 0.1uF, and the resistors R26, R27, R28, R29, R30, R31, R32, and R33 are all 51Ω.

[0018] Beneficial effects:

[0019] 1. This invention can charge multiple drones at different locations.

[0020] 2. This invention can eliminate interference from external objects on the system's recognition.

[0021] 3. This invention improves reliability and convenience by using an automatic control circuit to automatically power off the energy emission module when it is unloaded and start it when it is under load. Attached Figure Description

[0022] Figure 1 This is the overall block diagram structure of the present invention.

[0023] Figure 2 This is the schematic diagram of the pressure sensing circuit.

[0024] Figure 3 This is the schematic diagram of the load identification module.

[0025] Figure 4 This is the schematic diagram of an intelligent power-off circuit.

[0026] Figure 5 This is the schematic diagram of the inverter drive circuit.

[0027] Figure 6 This is the schematic diagram of the microcontroller control module.

[0028] Figure 7 This is a schematic diagram of the structure of the mobile module of the charging system.

[0029] Figure 8 This is a connection diagram of the ring distributor interface circuit. Detailed Implementation

[0030] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0031] Example 1: Overall Structure of the Invention

[0032] like Figure 1 As shown, this invention discloses a wireless charging system suitable for multiple small drones. Its overall structure includes a pressure sensing module 1, a microcontroller control module 2, a ring distributor interface circuit 3, a load identification module 4, an intelligent power-off circuit 5, an inverter drive circuit 6, and a charging system movement module 7. The pressure sensing module 1 outputs collected information, processes it, and transmits it to the microcontroller control module 2. The output signal S1 of the microcontroller control module 2 is ultimately output as two pulse signals through the ring distributor interface circuit 3 and transmitted to the charging system movement module 7. The output of the load identification module 4 is connected to the microcontroller control module 2, and the output signal S2 of the microcontroller control module 2 controls the intelligent power-off module 5. The intelligent power-off module 5 provides power to the inverter drive circuit 6.

[0033] Example 2: Pressure Sensing Module

[0034] The pressure sensing module 1 is composed of a thin-film pressure sensor, and can be equipped with a pressure sensor array consisting of 16 thin-film pressure sensors. The pressure sensing circuit structure is as follows: Figure 2As shown, the non-inverting input of operational amplifier U25B is connected to one end of resistor R12, one end of resistor R13, and one end of capacitor C8. The other end of resistor R12 is connected to power supply VCC. The other end of capacitor C8 is connected to the other end of resistor R13 and grounded. One end of resistor R18 is connected to one end of resistor R17, one end of resistor R21, and one end of resistor R19. The other end of R18 is connected to the inverting input of operational amplifier U25B. The other end of resistor R19 is grounded. The output of operational amplifier U25B is connected to the inverting input of operational amplifier U25B, one end of resistor R15, and the movable contact of variable resistor R14. One end of variable resistor R14 is connected to the other end of resistor R17. Variable resistor R1... The other end of resistor 4 is connected to one end of resistor R16. The other end of resistor R16 is connected to the other end of resistor R15, one end of resistor R20, and one end of pressure sensor U1. The other end of pressure sensor U1 is grounded. The positive input terminal of operational amplifier U25A is connected to the other end of resistor R20 and one end of resistor R22. The other end of resistor R22 is grounded. The inverting input terminal of operational amplifier U25A is connected to the other end of resistor R21 and one end of resistor R23. The output terminal of operational amplifier U25A is connected to the other end of resistor R23, capacitor C9, and one end of resistor R24. The other end of capacitor C9 is grounded. The other end of resistor R24 ​​is connected to analog-to-digital converter U2, and a digital signal is output through the analog-to-digital converter output port PT OUT.

[0035] The pressure sensing circuit 1 is essentially a Wheatstone bridge, employing the most common resistance strain gauge type pressure sensor. The pressure on the diaphragm causes an imbalance in the bridge, resulting in a differential output signal. The resulting different voltage values ​​are converted from analog to digital signals by an A / D conversion circuit and transmitted to the microcontroller control module 2 for processing.

[0036] Example 3 Load Identification Module

[0037] The structure of the load identification module 4 is as follows: Figure 3As shown, one end of capacitor C1 is connected to the power supply VCC, and the other end is connected in series with resistor R1 and then connected to pin 9 of microcontroller A1. The other end of resistor R1 is grounded. One end of crystal oscillator Y1 is connected in series with capacitor C2 and then connected to pin 18 of microcontroller A1. The other end of capacitor C2 is grounded. The other end of crystal oscillator Y1 is connected in series with capacitor C3 and then connected to pin 19 of microcontroller A1. The other end of capacitor C3 is grounded. Pin 20 of microcontroller A1 is directly grounded. Resistor R4 is connected in parallel with capacitor C4, and one end is connected to the microcontroller. Pin 26 of microcontroller A1 is connected to the microcontroller, with the other end grounded. The anode of diode VD1 is connected to the cathode of diode VD3, and the anode of diode VD3 is connected to the anode of diode VD4. The cathode of diode VD4 is connected to the anode of diode VD2, and the cathode of diode VD2 is connected to the cathode of diode VD1. The cathode of diode VD1 is directly grounded. The anode of VD3 is connected to pin 26 of microcontroller A1, and the cathode of VD3 is connected to one end of inductor L2. The other end of inductor L2 is connected to the anode of VD2. Resistor R5 is connected in parallel with inductor L3, one end of which is connected to capacitor C5, and the other end is directly grounded. Inductor L3 and inductor L2 are mutually coupled. The other end of capacitor C5 is connected to resistor R7, and the other end of resistor R7 is connected to the emitter of transistor Q2. Capacitor C6 is connected in parallel with resistor R8, one end of which is directly grounded, and the other end is connected to the emitter of transistor Q1. The collector of transistor Q1 is connected to resistor R6, and the other end of resistor R6 is connected to power supply VCC. The base of transistor Q1 is connected to the collector of transistor Q2. Connect the transistors to each other, and connect one end of resistor R10. Connect the other end of resistor R10 to power supply VCC. Connect the emitter of transistor Q2 to resistor R9. Connect the other end of resistor R9 directly to ground. Connect the base of transistor Q2 to one end of resistor R11 and capacitor C7 respectively. Connect the other end of resistor R11 directly to power supply VCC. Connect the other end of capacitor C7 to the OUT port of obstacle avoidance sensor P1. Connect the GND port of obstacle avoidance sensor P1 to ground. Connect the VCC port of obstacle avoidance sensor P1 to power supply VCC.

[0038] The load identification module 4 amplifies the sensor signal and then rectifies and filters it before inputting it into the microcontroller control module 2, thereby enabling the microcontroller control module 2 to output signal S2 to control the intelligent power-off circuit 5.

[0039] Example 4 Intelligent Power-Off Module

[0040] The structure of the intelligent power-off circuit 5 is as follows: Figure 4As shown, the power supply is connected to the T1 port of optocoupler U3 through R34. The T2 port is connected to pin 25 of microcontroller A1. Its T4 port is connected to the base of transistor Q7. The emitter of transistor Q7 is grounded, and its collector is connected to the cathode of diode D4. The power supply VCC is connected to the anode of diode D4 and to one end of resistor R35. The other end of R35 is connected to the T3 port of optocoupler U3. Pin 40 of microcontroller A1 is connected to the power supply VCC, and pin 5 is connected to the cathode of diode D4. Single-pole double-throw switch K1 is connected to the 15V power supply. Contact a is connected to the output port Vref_OUT, which is connected to the port Vref_IN of inverter drive circuit 6. The on / off state of the normally open contact of the relay can be controlled by changing the switching state of the transistor.

[0041] The intelligent power-off module 5 transmits the signal S2 output from the microcontroller control module 2 to the T2 pin of the chip optocoupler U3, thereby controlling the output of the chip optocoupler U3. By changing the state of transistor Q7, the switch K1 is controlled, thereby controlling whether the inverter drive circuit is connected to the power supply.

[0042] Example 5 Inverter Drive Circuit

[0043] The structure of the inverter drive circuit 6 is as follows: Figure 5As shown, pin 1 of the full-bridge driver chip A2 is connected to the input port Vref_IN, and pin 2 is grounded. Capacitors C10 and C11 are connected in parallel, with one end connected to pin 1 and the other end connected to pin 3, and connected in series with capacitor C12. The other end of capacitor C12 is grounded. Pin 4 is connected to one end of resistor R25, and the other end of resistor R25 is connected to pin 3. Pin 5 is directly connected to ground. Resistors R32 and R33 are connected in parallel, with one end connected to pin 6 of the full-bridge driver chip A2 and the other end connected to the gate of MOSFET Q6. The source of MOSFET Q6 is connected to one end of capacitor C15, and the other end of capacitor C15 is connected to power supply VCC. Inductor L1 is connected in series with one end of capacitor C16, and the other end of capacitor C16 is connected to the drain of MOSFET Q6. The drain of MOSFET Q6 is connected to the source of MOSFET Q5. Resistors R30 and R31 are connected in parallel, one end of which is connected to the gate of MOSFET Q5, and the other end is connected to pin 13 of full-bridge driver chip A2. The drain of MOSFET Q5 is directly connected to power supply VCC. Resistors R28 and R29 are connected in parallel. One end of resistor R26 is connected to pin 7 of the full-bridge driver chip A2, and the other end is connected to the gate of MOSFET Q4. The source of MOSFET Q4 is directly grounded, and the drain of MOSFET Q4 is connected to pin 12 of the full-bridge driver chip A2, and also connected to the source of MOSFET Q3. The drain of MOSFET Q3 is directly connected to the power supply VCC. Resistors R26 and R27 are connected in parallel, with one end connected to the gate of MOSFET Q3 and the other end connected to pin 9 of the full-bridge driver chip A2. Pin 14 of the full-bridge driver chip A2 is connected to capacitor C. 13. The other end of capacitor C13 is connected to pin 12 of full-bridge driver chip A2. At the same time, pin 12 of full-bridge driver chip A2 is connected to the drain of field-effect transistor Q4 and the source of field-effect transistor Q3. Pin 10 of full-bridge driver chip A2 is connected to capacitor C14. The other end of capacitor C14 is connected to pin 8 of full-bridge driver chip A2. At the same time, pin 8 of full-bridge driver chip A2 is connected to the drain of field-effect transistor Q6 and the source of field-effect transistor Q5. The other end of inductor L1 is connected to pin 12 of full-bridge driver chip A2.

[0044] The inverter drive circuit 6 is connected to the power supply under the control of the intelligent power-off circuit 5. It converts the voltage into an oscillating sinusoidal current that flows through the inductor L1 (i.e., the transmitting coil). The transmitting coil converts the current into changing magnetic field energy for transmission, thereby achieving wireless charging of the drone.

[0045] Example 6: Single-chip microcomputer control module

[0046] The structure of the single-chip microcomputer control module 2 is as follows: Figure 6As shown: The S1 ports of decoders U4, U5, U6, and U7 are connected to pin LA of microcontroller A3; the S2 ports of decoders U4, U5, U6, and U7 are connected to pin LB of microcontroller A3; the S3 ports of decoders U4, U5, U6, and U7 are connected to pin LC of microcontroller A3; the S4 ports of decoders U4, U5, U6, and U7 are connected to pin LD of microcontroller A3; the G0 port of decoder U4 is connected to pin LE of microcontroller A3 via NOT gate FM1; and the G1 port of decoder U4 is connected to a port of microcontroller A3. Decoder U5's G0 port is connected to pin LE of microcontroller A3. Decoder U5's G1 port is connected to pin LF of microcontroller A3 via NOT gate FM2. Decoder U6's G0 port is connected to pin LE of microcontroller A3. Decoder U6's G1 port is connected to pin LF of microcontroller A3. Decoder U7's G0 port is connected to pin LE of microcontroller A3 via NOT gate FM3. Decoder U7's G1 port is connected to pin LF of microcontroller A3 via NOT gate FM4. Decoder U4's D1-D16 pins are connected to PT respectively. Pins 1-16 of OUT are connected to pins 17-32 of PT OUT, pins D1-D16 of decoder U5 are connected to pins 33-48 of PT OUT, pins D1-D16 of decoder U7 are connected to pins 49-64 of PT OUT, the ENB ports of decoders U4, U5, U6, and U7 are grounded, the VCC ports of decoders U4, U5, U6, and U7 are connected to the Ui terminal of the TG gate, the VCC power supply port is connected to the Uo terminal of the TG gate, the C port of the TG gate is connected to the D1 port of decoder U9, the C NOT of the TG gate is connected to the D1 port of decoder U9 via the NOT gate FM5, the ENB port of decoder U9 is grounded, the S1, S2, and S3 ports are connected to the corresponding ports of microcontroller A3, and pin 25 of microcontroller A1 is connected to the RST port of microcontroller A3.

[0047] The microcontroller control circuit 2 collects data from the pressure sensing module 1 via a chip.

[0048] Example 7: Charging System Mobile Module

[0049] The structure of the charging system mobile module 7 is as follows: Figure 7 As shown, the Y-axis stepper motor 74 controls the movement of the Y-axis lead screw 71, which is connected to the X-axis platform 76 via a connecting structure 75. The X-axis stepper motor 73 controls the movement of the X-axis lead screw 77, thereby moving the stage 72.

[0050] The charging system mobile module 7 realizes the mobile charging system by mounting a load position identification module 4, an intelligent power-off circuit 5, and an inverter drive circuit 6 on the platform 72.

[0051] Example 7: Ring Distributor Interface Circuit

[0052] The structure of the ring distributor access circuit 3 is as follows: Figure 8 As shown, the P3.4 port of microcontroller A3 is connected to the CK pin of stepper motor driver chip U8, and the P2.0 port of microcontroller A3 is connected to the U / D pin of stepper motor driver chip U8. The Q1 and Q2 pins of stepper motor driver chip U8 are output pins. The output control pulse of Q1 of stepper motor driver chip U8 is connected to the X-axis stepper motor, and the output control pulse of Q2 of stepper motor driver chip U8 is connected to the Y-axis stepper motor.

[0053] The ring distributor interface circuit 3 distributes clock pulses according to a certain pattern to the X-axis stepper motor 73 and Y-axis stepper motor 74 in the charging system moving module 7.

[0054] Example 8: Working principle of the present invention

[0055] When multiple drones land on the platform, the pressure sensing module 1 detects the pressure and converts the analog signal into a digital signal, transmitting it to the microcontroller A3 in the microcontroller control module 2 to obtain the coordinate information of the drones. The microcontroller control module 2 sends signal S1 to the ring distribution circuit 3, which then transmits two signals to the charging system movement module 7. These signals control the X-axis and Y-axis stepper motors, respectively, moving the load identification module 4, intelligent power-off circuit 5, and inverter drive circuit 6 on the platform 72 to their respective coordinate positions. The load identification module detects the load status; the load identification module 4 sends a signal to the microcontroller A1, which in turn changes the state of transistor Q7 in the intelligent power-off circuit 5, thereby controlling the opening and closing of switch K1 in the intelligent power-off circuit 5, and ultimately controlling whether the inverter drive circuit 6 is connected to the power supply. If a load is detected, the load identification module 4 sends a signal to microcontroller A1. Microcontroller A1 then sends a signal to microcontroller A2, keeping the charging system moving module 7 stationary. Microcontroller A1 also controls the switch in the intelligent power-off circuit 5 to connect to terminal a, and the inverter drive circuit 6 is connected to the power supply. If no load is detected, or the load can no longer be charged, switch b in the intelligent power-off circuit 5 is connected, the inverter drive circuit 6 is powered off, the load identification module 4 sends a signal to microcontroller A1, and A1 then sends a control signal to microcontroller A2, causing the charging system moving module 7 to move to the next load location. This process repeats. This enables automatic wireless charging for multiple small drones.

Claims

1. An automatic charging platform suitable for multiple small unmanned aerial vehicles, comprising a microcontroller control module (2) and an inverter drive circuit (6), characterized in that, The structure also includes a pressure sensing module (1), a ring distributor interface circuit (3), a load identification module (4), an intelligent power-off circuit (5), and a charging system moving module (7). The pressure sensing module (1) outputs the collected information and transmits it to the microcontroller control module (2) after processing. The output signal S1 of the microcontroller control module (2) outputs two pulse signals through the ring distributor interface circuit (3) and enters the charging system moving module (7). The output of the load identification module (4) is connected to the microcontroller control module (2). The output signal S2 of the microcontroller control module (2) controls the intelligent power-off circuit (5). The intelligent power-off circuit (5) provides power to the inverter drive circuit (6). The pressure sensing module (1) is a pressure sensor array composed of 16 thin-film pressure sensors. The pressure sensing circuit structure is as follows: the non-inverting input terminal of operational amplifier U25B is connected to one end of resistor R12, one end of resistor R13, and one end of capacitor C8; the other end of resistor R12 is connected to power supply VCC; the other end of capacitor C8 is connected to the other end of resistor R13 and grounded; one end of resistor R18 is connected to one end of resistor R17, one end of resistor R21, and one end of resistor R19; the other end of R18 is connected to the inverting input terminal of operational amplifier U25B; the other end of resistor R19 is grounded; the output terminal of operational amplifier U25B is connected to the inverting input terminal of operational amplifier U25B, one end of resistor R15, and the movable contact of variable resistor R14; the variable resistor R14... One end of the variable resistor R14 is connected to the other end of the resistor R16. The other end of the resistor R16 is connected to the other end of the resistor R15. One end of the resistor R20 is connected to one end of the pressure sensor U1, and the other end of the pressure sensor U1 is grounded. The positive input terminal of the operational amplifier U25A is connected to the other end of the resistor R20 and one end of the resistor R22, and the other end of the resistor R22 is grounded. The inverting input terminal of the operational amplifier U25A is connected to the other end of the resistor R21 and one end of the resistor R23. The output terminal of the operational amplifier U25A is connected to the other end of the resistor R23, one end of the capacitor C9 and one end of the resistor R24, and the other end of the capacitor C9 is grounded. The other end of the resistor R24 ​​is connected to the analog-to-digital converter U2, and a digital signal is output through the analog-to-digital converter output port PT OUT. The structure of the load identification module (4) is as follows: one end of capacitor C1 is connected to power supply VCC, and the other end is connected in series with resistor R1 and connected to pin 9 of microcontroller A1. The other end of resistor R1 is grounded. One end of crystal oscillator Y1 is connected in series with capacitor C2 and connected to pin 18 of microcontroller A1. The other end of capacitor C2 is grounded. The other end of crystal oscillator Y1 is connected in series with capacitor C3 and connected to pin 19 of microcontroller A1. The other end of capacitor C3 is grounded. Pin 20 of microcontroller A1 is directly grounded. Resistor R4 and capacitor C1 are connected in series with... C4 is connected in parallel, one end connected to pin 26 of microcontroller A1, and the other end grounded. The anode of diode VD1 is connected to the cathode of diode VD3, the anode of diode VD3 is connected to the anode of diode VD4, the cathode of diode VD4 is connected to the anode of diode VD2, the cathode of diode VD2 is connected to the cathode of diode VD1, the cathode of diode VD1 is directly grounded, the anode of VD3 is connected to pin 26 of microcontroller A1, and the cathode of VD3 is connected to one end of inductor L2. The other end of inductor L2 is connected to... Connecting to the anode of VD2, resistor R5 is connected in parallel with inductor L3, one end of which is connected to capacitor C5, and the other end is directly grounded. Inductor L3 and inductor L2 are mutually coupled. The other end of capacitor C5 is connected to resistor R7, and the other end of resistor R7 is connected to the emitter of transistor Q2. Capacitor C6 is connected in parallel with resistor R8, one end of which is directly grounded, and the other end is connected together to the emitter of transistor Q1. The collector of transistor Q1 is connected to resistor R6, and the other end of resistor R6 is connected to power supply VCC. The base of transistor Q1 is connected to the anode of transistor Q2. The collectors of transistors Q2 are connected to one end of resistor R10, and the other end of resistor R10 is connected to power supply VCC. The emitter of transistor Q2 is connected to resistor R9, and the other end of resistor R9 is directly grounded. The base of transistor Q2 is connected to one end of resistor R11 and one end of capacitor C7, and the other end of resistor R11 is directly connected to power supply VCC. The other end of capacitor C7 is connected to the OUT port of obstacle avoidance sensor P1. The GND port of obstacle avoidance sensor P1 is grounded, and the VCC port of obstacle avoidance sensor P1 is connected to power supply VCC. The structure of the intelligent power-off circuit (5) is as follows: the power supply is connected to the T1 port of the optocoupler U3 through R34, the T2 port is connected to the pin 25 of the microcontroller A1, the T4 port is connected to the base of the transistor Q7, the emitter of the transistor Q7 is grounded, the collector is connected to the cathode of the diode D4, the power supply VCC is connected to the anode of the diode D4 and connected to one end of the resistor R35, the other end of R35 is connected to the T3 port of the optocoupler U3, the pin 40 of the microcontroller A1 is connected to the power supply VCC, and the pin 5 is connected to the cathode of the diode D4. The single-pole double-throw switch K1 is connected to the power supply 15V, and the contact a is connected to the output port Vref_OUT, which is connected to the port Vref_IN of the inverter drive circuit 6. The opening and closing of the normally open contact of the relay can be controlled by changing the switching state of the transistor. The structure of the inverter drive circuit (6) is as follows: Pin 1 of the full-bridge driver chip A2 is connected to the input port Vref_IN, and pin 2 is grounded. Capacitors C10 and C11 are connected in parallel, with one end connected to pin 1 and the other end connected to pin 3, and connected in series with capacitor C12. The other end of capacitor C12 is grounded. Pin 4 is connected to one end of resistor R25, and the other end of resistor R25 is connected to pin 3. Pin 5 is directly connected to ground. Resistors R32 and R33 are connected in parallel, with one end connected to pin 6 of the full-bridge driver chip A2 and the other end connected to the gate of field-effect transistor Q6. The source of field-effect transistor Q6 is... One end of capacitor C15 is connected to the gate, and the other end of capacitor C15 is connected to the power supply VCC. Inductor L1 is connected in series with one end of capacitor C16, and the other end of capacitor C16 is connected to the drain of MOSFET Q6. The drain of MOSFET Q6 is connected to the source of MOSFET Q5. Resistors R30 and R31 are connected in parallel, one end of which is connected to the gate of MOSFET Q5, and the other end is connected to pin 13 of the full-bridge driver chip A2. The drain of MOSFET Q5 is directly connected to the power supply VCC. Resistors R28 and R29 are connected in parallel, one end of which is connected to... Pin 7 of the full-bridge driver chip A2 is connected to the gate of MOSFET Q4. The source of MOSFET Q4 is directly grounded. The drain of MOSFET Q4 is connected to pin 12 of the full-bridge driver chip A2 and also to the source of MOSFET Q3. The drain of MOSFET Q3 is directly connected to the power supply VCC. Resistors R26 and R27 are connected in parallel, with one end connected to the gate of MOSFET Q3 and the other end connected to pin 9 of the full-bridge driver chip A2. Pin 14 of the full-bridge driver chip A2 is connected to capacitor C13. The other end of capacitor C13 is connected to pin 12 of full-bridge driver chip A2. At the same time, pin 12 of full-bridge driver chip A2 is connected to the drain of field-effect transistor Q4 and the source of field-effect transistor Q3. Pin 10 of full-bridge driver chip A2 is connected to capacitor C14. The other end of capacitor C14 is connected to pin 8 of full-bridge driver chip A2. At the same time, pin 8 of full-bridge driver chip A2 is connected to the drain of field-effect transistor Q6 and the source of field-effect transistor Q5. The other end of inductor L1 is connected to pin 12 of full-bridge driver chip A2. The structure of the microcontroller control module (2) is as follows: the S1 ports of decoders U4, U5, U6, and U7 are connected to pin LA of microcontroller A3; the S2 ports of decoders U4, U5, U6, and U7 are connected to pin LB of microcontroller A3; the S3 ports of decoders U4, U5, U6, and U7 are connected to pin LC of microcontroller A3; the S4 ports of decoders U4, U5, U6, and U7 are connected to pin LD of microcontroller A3; the G0 port of decoder U4 is connected to pin LE of microcontroller A3 through NOT gate FM1; and the G1 port of decoder U4 is connected to... The LF port of microcontroller A3 and the G0 port of decoder U5 are connected to the LE pin of microcontroller A3. The G1 port of decoder U5 is connected to the LF pin of microcontroller A3 through NOT gate FM2. The G0 port of decoder U6 is connected to the LE pin of microcontroller A3, and the G1 port of decoder U6 is connected to the LF pin of microcontroller A3. The G0 port of decoder U7 is connected to the LE pin of microcontroller A3 through NOT gate FM3, and the G1 port of decoder U7 is connected to the LF pin of microcontroller A3 through NOT gate FM4. The D1~D16 pins of decoder U4 are connected to PT respectively. Pins 1-16 of OUT are connected to pins 17-32 of PT OUT, pins D1-D16 of decoder U5 are connected to pins 33-48 of PT OUT, pins D1-D16 of decoder U7 are connected to pins 49-64 of PT OUT, the ENB port of decoders U4, U5, U6, and U7 is grounded, the VCC port of decoders U4, U5, U6, and U7 is connected to the Ui terminal of the TG gate, the VCC power supply port is connected to the Uo terminal of the TG gate, the C port of the TG gate is connected to the D1 port of decoder U9, the C NOT gate FM5 of the TG gate is connected to the D1 port of decoder U9, the ENB port of decoder U9 is grounded, and the S1, S2, and S3 ports are connected to the corresponding ports of microcontroller A3; pin 25 of microcontroller A1 is connected to the RST port of microcontroller A3. The structure of the charging system moving module (7) is as follows: a Y-axis stepper motor (74) controls the movement of the Y-axis lead screw (71), the Y-axis lead screw (71) is connected to the X-axis platform (76) through the connecting structure (75), and the X-axis stepper motor (73) controls the movement of the X-axis lead screw (77), thereby moving the platform (72). The structure of the ring distributor interface circuit (3) is as follows: the P3.4 port of the microcontroller A3 is connected to the CK pin of the stepper motor driver chip U8, the P2.0 port of the microcontroller A3 is connected to the U / D pin of the stepper motor driver chip U8, the Q1 and Q2 pins of the stepper motor driver chip U8 are output pins, the output control pulse of the Q1 of the stepper motor driver chip U8 is connected to the X-axis stepper motor, and the output control pulse of the Q2 of the stepper motor driver chip U8 is connected to the Y-axis stepper motor.

2. The automatic charging platform for multiple small unmanned aerial vehicles according to claim 1, characterized in that, In the pressure sensing module (1), capacitors C8 and C9 are 0.01uF, variable resistor R14 is 10kΩ, resistors R22 and R23 are both 2MΩ, resistors R16 and R17 are 1kΩ, and resistors R15, R17 and R19 are all 120Ω.

3. The automatic charging platform for multiple small unmanned aerial vehicles according to claim 1, characterized in that, The specific model of the microcontroller A1 is STC12C5A6052, the specific model of the full-bridge driver chip A2 is IRS2453, the specific model of the microcontroller A3 is AT89C52, the specific model of the optocoupler U3 is PC817C, the specific models of the decoders U4, U5, U6, and U7 are all 74LS154, and the specific model of the decoder U9 is 74LS138.

4. An automatic charging platform suitable for multiple small unmanned aerial vehicles according to claim 1, characterized in that, In the inverter drive circuit (6), the inductor L1 is 10mH, the capacitor C16 is 0.1uF, and the resistors R26, R27, R28, R29, R30, R31, R32, and R33 are all 51Ω.

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