A wireless charging assembly positioning method

Abstract

The application discloses a wireless charging assembly positioning method, relates to the technical field of unmanned aerial vehicle application, and solves the technical problem that the existing wireless charging assembly positioning accuracy is poor, operation is troublesome, and the effect of wireless charging of the unmanned aerial vehicle is easily affected. Specifically includes the following steps: S100, after the unmanned aerial vehicle lands on the landing apron, image information of the marker plate below is acquired; S200, the attitude of the unmanned aerial vehicle is determined according to the image information, and the position of the wireless charging receiving end on the unmanned aerial vehicle relative to the wireless charging transmitting end on the landing apron is calculated according to the attitude of the unmanned aerial vehicle; S300, the positions of the wireless charging receiving end and the wireless charging transmitting end are aligned and positioned; S400, error correction is performed on the aligned and positioned wireless charging receiving end and wireless charging transmitting end, and wireless charging is performed on the unmanned aerial vehicle. The application determines the attitude and position of the unmanned aerial vehicle landing on the landing apron by analyzing the acquired image information, adjusts the position of the wireless charging assembly, accurately positions, and realizes the charging of the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of drone application technology, and in particular to a method for locating a wireless charging component. Background Technology

[0002] As drones are increasingly diversified in industrial applications, reliability and intelligence have become crucial factors in assessing the maturity of drone systems, especially in the face of complex and demanding operating environments. Drones typically have short flight times, requiring battery replacement or recharging after only 20-30 minutes of continuous flight. Existing contact-based charging methods pose risks of electrical sparks and electric shock, easily leading to dangerous accidents. Wireless charging, on the other hand, is not only convenient but also eliminates these hazards, enabling its widespread adoption in drone production and ensuring safety.

[0003] Current wireless charging technology is limited by the coverage area of ​​the coil. Charging fails when the receiver and transmitter of the wireless charging component deviate by more than 2mm in the horizontal or vertical directions. In other words, millimeter-level alignment is required for charging to be enabled. When a drone lands, current precision landing technology is insufficient to ensure it lands in the same spot every time for wireless charging. Existing wireless charging technologies often result in a slight deviation between the drone and the transmitter after landing, preventing wireless charging. Therefore, after landing, the receiver or transmitter of the wireless charging component needs to be repositioned for alignment. However, due to the high precision required for this alignment, current wireless charging methods are cumbersome and cannot guarantee accurate alignment, potentially affecting the effectiveness of wireless charging.

[0004] In the process of realizing this invention, the inventors discovered at least the following problems in the prior art:

[0005] Existing wireless charging components have poor positioning accuracy, are cumbersome to operate, and can easily affect the wireless charging performance of drones. Summary of the Invention

[0006] The purpose of this invention is to provide a wireless charging component positioning method to solve the technical problems of poor positioning accuracy, cumbersome operation, and easy impact on the wireless charging effect of drones in the prior art.

[0007] The preferred technical solutions among the many technical solutions provided by this invention can produce a variety of technical effects, which are described in detail below.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] The present invention provides a method for locating a wireless charging component, which specifically includes the following steps:

[0010] After the S100 drone lands on the helipad, it acquires image information of the marker board below.

[0011] S200. Based on the image information, determine the attitude of the drone, and calculate the position of the wireless charging receiver on the drone relative to the wireless charging transmitter on the helipad based on the attitude of the drone.

[0012] S300: Align and position the wireless charging receiver and the wireless charging transmitter.

[0013] S400: Correct the error of the wireless charging receiver and wireless charging transmitter that are aligned and positioned, and wirelessly charge the drone.

[0014] Preferably, step S200 specifically includes the following steps:

[0015] S210. After obtaining the image information, identify the information of the complete small marker block in the image information from the ArUco library, obtain the marker-id information corresponding to the complete small marker block, and determine the position of the visual camera on the UAV.

[0016] S220 obtains the rotation vector of the complete small marker block relative to the marker board through the ArUco library, and selects a perpendicular vector of the X-axis to calculate the rotation angle of the UAV.

[0017] S230. Calculate the position of the wireless charging receiver based on the rotation angle, the position of the visual camera, and the fixed distance between the visual camera and the wireless charging receiver.

[0018] S240. Determine the relative position information between the wireless charging receiver and the wireless charging transmitter based on the position of the wireless charging receiver.

[0019] Preferably, step S210 specifically includes the following steps:

[0020] A marker board coordinate system is constructed with one corner of the marker board as the origin N, and the wireless charging transmitter is set at the origin N.

[0021] The marker board is provided with multiple small marker blocks, and each small marker block is provided with a QR code number. The ArUco library stores the marker-id information of each small marker block.

[0022] The marker-id information includes the QR code number of the small marker block, and the XY coordinates and translation deviation of the small marker block corresponding to the QR code number in the marker board coordinate system;

[0023] The visual camera and the complete small marker block in the image information are at the same point in the marker board coordinate system, denoted as O(X1, Y1), thus obtaining the position of the visual camera.

[0024] Preferably, the method for calculating the rotation angle of the UAV in S220 is as follows:

[0025] θ = arccos((A·B) / (|A| |B|));

[0026] A is the rotation vector of the complete small marker block relative to the marker board; B is the vertical vector perpendicular to the X-axis in the coordinate system of the marker board; |A| is the magnitude of the rotation vector; |B| is the magnitude of the vertical vector; θ is the rotation angle of the complete small marker block relative to the marker board.

[0027] The attitude direction of the drone is a mirror image of the attitude direction of the marker board; therefore, the rotation angle of the drone is the inverse of θ.

[0028] Preferably, the method for calculating the position of the wireless charging receiver in the coordinate system in step S230 is as follows:

[0029] (X1-Rsin∠QOM,Y1-Rcos∠QOM);

[0030] X1 is the horizontal coordinate of the visual camera in the coordinate system; Y1 is the vertical coordinate of the visual camera in the coordinate system; ∠QOM is the rotation angle of the drone; R is the fixed distance between the visual camera and the wireless charging receiver.

[0031] Preferably, step S300 specifically includes the following steps:

[0032] S310' The UAV is parked and fixed on the landing pad, and the landing pad controls the operation of the transmission components inside the landing pad;

[0033] S320' The transmission component drives the wireless charging transmitter to move in the X-axis direction and the Y-axis direction according to the position of the wireless charging receiver and the wireless charging transmitter.

[0034] S330' The wireless charging transmitter moves below the wireless charging receiver of the drone and is aligned with and positioned with the wireless charging receiver.

[0035] Preferably, step S300 specifically includes the following steps:

[0036] S310”, The wireless charging transmitter is fixed inside the helipad, and the helipad controls the centering mechanism set on the helipad to work;

[0037] S320”, the centering mechanism drives the drone to move in the X-axis and Y-axis directions according to the positions of the wireless charging receiver and the wireless charging transmitter;

[0038] S330”, the drone moves above the wireless charging transmitter, so that the wireless charging receiver on the drone is aligned and positioned with the wireless charging transmitter.

[0039] Preferably, step S400 specifically includes the following steps:

[0040] S410. After the wireless charging components are aligned, the transmitter converter of the wireless charging components converts the voltage signal and sends it to the wireless charging transmitter, and the transmitter converter sends a charging command to the wireless charging receiver.

[0041] S420. After receiving the charging command, the wireless charging receiver determines whether it can charge the drone. If yes, proceed to step S430; if no, perform error correction and proceed to step S440.

[0042] S430, record the error value e, update the recorded average error value and charge;

[0043] S440. Based on the error range between the visual camera and the complete small marker block, the position of the wireless charging receiver is re-determined, and after obtaining the new position of the wireless charging receiver relative to the wireless charging transmitter, step S300 is executed.

[0044] Preferably, the method for error correction and re-determining the location of the wireless charging receiver in S440 is as follows:

[0045] ((X1-Rsin∠QOM)±e,(Y1-Rcos∠QOM)±e);

[0046] (X1-Rsin∠QOM) is the abscissa of the wireless charging receiver in the coordinate system; (Y1-Rcos∠QOM) is the ordinate of the wireless charging receiver in the coordinate system; e is the error parameter within the error range.

[0047] Preferably, after the drone lands on the helipad, the UWB base station identifies and detects the UWB tag on the drone to determine the location of the wireless charging receiver.

[0048] Implementing one of the above-described technical solutions of the present invention has the following advantages or beneficial effects:

[0049] This invention analyzes the acquired image information to determine the attitude and position of the drone landing on the helipad, adjusts the position of the wireless charging component, and achieves precise positioning to charge the drone. Attached Figure Description

[0050] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0051] Figure 1 This is a first flowchart of an embodiment of the wireless charging component positioning method of the present invention;

[0052] Figure 2 This is a second flowchart of an embodiment of the wireless charging component positioning method of the present invention;

[0053] Figure 3 This is a third flowchart of an embodiment of the wireless charging component positioning method of the present invention;

[0054] Figure 4 This is the fourth flowchart of an embodiment of the wireless charging component positioning method of the present invention;

[0055] Figure 5 This is the fifth flowchart of an embodiment of the wireless charging component positioning method of the present invention;

[0056] Figure 6 This is a coordinate system schematic diagram of an embodiment of the wireless charging component positioning method of the present invention;

[0057] Figure 7 This is a schematic diagram of image information obtained from an embodiment of the wireless charging component positioning method of the present invention;

[0058] Figure 8 This is a first structural schematic diagram of an embodiment of the wireless charging component positioning method of the present invention;

[0059] Figure 9 This is an exploded view of an embodiment of the wireless charging component positioning method of the present invention;

[0060] Figure 10This is a second structural schematic diagram of an embodiment of the wireless charging component positioning method of the present invention.

[0061] In the diagram: 1. Drone; 11. Wireless charging receiver; 12. UWB tag; 2. Helipad; 21. Wireless transmission transmitter; 22. Marker board; 221. Small marker block; 23. UWB base station; 24. Transmission assembly; 241. X-axis structure; 242. Y-axis structure. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the present invention clearer, various exemplary embodiments described below will be referenced to the accompanying drawings, which form part of the exemplary embodiments, illustrating various exemplary embodiments that may be used to implement the present invention. Unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. It should be understood that they are merely examples of processes, methods, and apparatuses consistent with some aspects of the present invention disclosed as detailed in the appended claims, and other embodiments may be used, or structural and functional modifications may be made to the embodiments listed herein without departing from the scope and spirit of the present invention.

[0063] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," etc., indicate the orientation or positional relationship based on the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the referred element must have a specific orientation, or be constructed and operated in a specific orientation. The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. The term "a plurality" means two or more. The terms "connected" and "linked" should be interpreted broadly, for example, they can refer to fixed connections, detachable connections, integral connections, mechanical connections, electrical connections, communication connections, direct connections, indirect connections through an intermediate medium, and can refer to the internal communication of two elements or the interaction relationship between two elements. The term "and / or" includes any and all combinations of one or more of the related listed items. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] To illustrate the technical solution described in this invention, specific embodiments are described below, showing only the parts related to the embodiments of this invention.

[0065] Example 1:

[0066] like Figures 1-7As shown, the present invention provides a method for locating a wireless charging component, which specifically includes the following steps:

[0067] After the S100 drone lands on the helipad, it acquires image information of the marker board below.

[0068] S200. Based on the image information, determine the attitude of the drone, and calculate the position of the wireless charging receiver on the drone relative to the wireless charging transmitter on the helipad based on the drone's attitude.

[0069] S300: Align and position the wireless charging receiver and wireless charging transmitter.

[0070] The S400 performs error correction on the aligned and positioned wireless charging receiver and transmitter, and then wirelessly charges the drone. Specifically, the wireless charging receiver is fixedly mounted in the middle of the drone's bottom landing gear to receive energy radiated from the coil on the wireless charging transmitter within the helipad, enabling wireless charging of the drone. A visual camera is fixedly mounted on the bottom of the drone, capable of capturing images of the marker board set up on the helipad below the drone, obtaining image information from below the drone, and transmitting it to the processing equipment on the helipad via a wireless communication module. After receiving image information, the helipad analyzes the acquired image information using the ArUco library to determine the drone's attitude, thereby determining the relative position of the wireless charging receiver on the drone on the helipad. Based on the relative position of the wireless charging receiver on the helipad and the initial position of the wireless charging transmitter on the helipad (i.e., the relative position on the marker board on the helipad, which is the origin of the marker board coordinate system described below), the helipad sends control commands to move the wireless charging transmitter or the drone, causing the wireless charging receiver on the drone to move synchronously. This aligns the positions of the wireless charging receiver and the wireless charging transmitter, achieving precise positioning of the wireless charging component and ensuring the drone is accurately parked on the helipad, guaranteeing the effectiveness of wireless charging. This invention directly analyzes the drone's image information to determine its attitude when landing on the helipad, thereby calculating the precise position of the wireless charging receiver on the drone relative to the wireless charging transmitter on the helipad. This allows for adjustments based on the relative position, ensuring precise positioning of the wireless charging component and guaranteeing effective charging.

[0071] As an optional implementation, S200 specifically includes the following steps:

[0072] S210. After obtaining the image information, identify the information of the complete small marker block in the image information from the ArUco library, obtain the marker-id information corresponding to the complete small marker block, and determine the position of the visual camera on the drone.

[0073] The S220 obtains the rotation vector of the complete small marker block relative to the marker board through the ArUco library, and selects a perpendicular vector along the X-axis to calculate the rotation angle of the UAV.

[0074] S230. Calculate the position of the wireless charging receiver based on the rotation angle, the position of the vision camera, and the fixed distance between the vision camera and the wireless charging receiver.

[0075] S240. Determine the relative position information between the wireless charging receiver and the wireless charging transmitter based on the location of the wireless charging receiver. Specifically, the ArUco library stores the position of each small marker block on the marker board on the landing pad in the marker board coordinate system. ArUco is a QR code-based marker recognition technology that acquires image information of the drone through a vision camera and converts it into digital signals. A computer processes these data signals to identify the QR code information in the image, i.e., marker-id information. Based on the position and orientation in the marker-id information, the position and attitude of the object (i.e., the vision camera) are determined. It cannot be guaranteed that the drone will always land upright on the landing pad. When the drone lands on the landing pad, there will be a certain degree of deflection, causing the image information acquired by the vision camera to be deflected relative to the marker board image information stored in the ArUco library. By performing image analysis on the image information and the marker board image information using the ArUco library, the rotation vector of the complete small marker block in the image information can be obtained. When the acquired image information contains multiple complete small marker blocks, only the small marker block closest to the center point of the visual camera needs to be calculated. A perpendicular vector to the X-axis in the marker board coordinate system is determined from the acquired image information. The angle between these two vectors can be calculated using the cosine of the vector angle formula. Since the drone's horizontal attitude is mirrored by the deflection mapping of the image information, the drone's deflection angle needs to be the inverse of the angle between the two vectors. Given the drone's rotation angle, the position of the visual camera, and the fixed distance between the visual camera and the wireless charging receiver, a right-angled triangle can be constructed in the coordinate system (e.g., ...). Figure 6 As shown in the diagram, the position of the wireless charging receiver in the marker board coordinate system is determined using trigonometric functions. Based on the obtained position of the wireless charging receiver and the known initial position of the wireless charging transmitter, the relative position information between the wireless charging receiver and transmitter can be obtained. The landing pad can then be adjusted according to this relative position information to align the wireless charging receiver and transmitter, enabling precise landing of the drone and ensuring the effectiveness of wireless charging.

[0076] As an optional implementation, S210 specifically includes the following steps:

[0077] A marker board coordinate system is constructed with one corner of the marker board as the origin N, and the wireless charging transmitter is set at the origin N.

[0078] The marker board has multiple small marker blocks, and each small marker block has a QR code number. The ArUco library stores the marker-id information of each small marker block.

[0079] The marker-id information includes the QR code number of the small marker block, and the XY coordinates and translation deviation of the small marker block corresponding to the QR code number in the marker board coordinate system.

[0080] In the marker board coordinate system, the visual camera and the complete small marker block in the image information share the same point, denoted as O(X1, Y1), thus obtaining the position of the visual camera. Specifically, the image information of the marker board stored in the ArUco library includes a marker board coordinate system constructed with one corner of the marker board as the origin N, and the position of each small marker block on the marker board within the coordinate system. The initial position of the wireless charging transmitter set on the helipad corresponds to the origin of the marker board coordinate system on the helipad, facilitating the acquisition of the relative position information between the wireless charging receiver and the wireless charging transmitter. Each small marker block is assigned a QR code number, making it easy to identify which specific small marker block in the image information is the complete small marker block, thereby obtaining the marker-id information corresponding to that complete small marker block. The marker-id information includes the coordinate position and translation deviation of the small marker block in the marker board coordinate system. The image information acquired by the vision camera contains a complete small marker block. The vision camera and the complete small marker block can be considered as a single point. The complete small marker block in the image information represents the position of the vision camera projected onto the marker board on the tarmac. Based on the marker-id information of the complete small marker block, the position of the vision camera projected onto the marker board coordinate system can be determined. Since the small marker block itself has a certain area and size, treating it as a point will result in a certain translational deviation. Using the translation vector provided by the Aruco library, the translation distance of the small marker block can be calculated, thus obtaining the coordinate position information of the small marker block in the camera coordinate system. Then, the corresponding deviation value can be obtained through coordinate transformation.

[0081] As an optional implementation, the method for calculating the rotation angle of the UAV in S220 is as follows:

[0082] θ = arccos((A·B) / (|A| |B|));

[0083] A is the rotation vector of the complete small marker block relative to the marker board; B is the vertical vector perpendicular to the X-axis in the marker board coordinate system; |A| is the magnitude of the rotation vector; |B| is the magnitude of the vertical vector; θ is the rotation angle of the complete small marker block relative to the marker board.

[0084] The drone's attitude direction is a mirror image of the marker board's attitude direction; therefore, the drone's rotation angle is the inverse of θ, i.e., ∠QOM as described below is -θ.

[0085] As an optional implementation, the method for calculating the position of the wireless charging receiver in the coordinate system in S230 is as follows:

[0086] (X1-Rsin∠QOM,Y1-Rcos∠QOM);

[0087] X1 is the x-coordinate of the visual camera in the coordinate system; Y1 is the y-coordinate of the visual camera in the coordinate system; ∠QOM is the rotation angle of the drone; R is the fixed distance between the visual camera and the wireless charging receiver. Specifically, since both the visual camera and the wireless charging receiver are fixed on the drone, the fixed distance R between them remains constant. When the drone is parked on the helipad, regardless of its rotation direction, the projection position of the wireless charging receiver in the marker board coordinate system is on a circle centered at the projection point of the visual camera and with the fixed distance R between the visual camera and the wireless charging receiver as its radius, as shown below. Figure 6 As shown.

[0088] As an optional implementation, S300 specifically includes the following steps:

[0089] S310' The drone is parked on the helipad and remains stationary. The helipad controls the transmission components inside the helipad to operate.

[0090] S320' The transmission component drives the wireless charging transmitter to move in the X-axis and Y-axis directions according to the positions of the wireless charging receiver and the wireless charging transmitter.

[0091] S330' The wireless charging transmitter moves below the wireless charging receiver on the drone and aligns with it. Specifically, after the drone lands on the helipad, it remains stationary. A transmission assembly inside the helipad operates, moving the wireless charging transmitter based on the determined position of the wireless charging receiver in the coordinate system. This alignment ensures the transmitter and receiver are within 2mm of each other, achieving precise landing and enabling wireless charging. The transmission assembly moves the wireless charging transmitter along the X and Y axes, moving according to the receiver's x and y coordinates in the marker board's coordinate system.

[0092] As an optional implementation, S300 specifically includes the following steps:

[0093] The S310 wireless charging transmitter is fixed inside the helipad, and the helipad controls the centering mechanism set up on the helipad.

[0094] S320” The centering mechanism drives the drone to move in the X-axis and Y-axis directions according to the positions of the wireless charging receiver and wireless charging transmitter.

[0095] S330”: Move the drone above the wireless charging transmitter, aligning the wireless charging receiver on the drone with the transmitter. Alternatively, a centering mechanism can be set up on the helipad, fixing the wireless charging transmitter inside. Based on the determined position of the wireless charging receiver in the coordinate system, the centering mechanism moves the drone, causing the wireless receiver on the drone to move synchronously, aligning it with the transmitter. This ensures the deviation between the receiver and transmitter is less than 2mm, allowing the drone to wirelessly charge after landing. The centering mechanism can also move the drone along the X and Y axes, moving according to the horizontal and vertical coordinates of the wireless charging receiver in the marker board's coordinate system.

[0096] As an optional implementation, S400 specifically includes the following steps:

[0097] S410 After the wireless charging components are aligned, the transmitter converter of the wireless charging components converts the voltage signal and sends it to the wireless charging transmitter, and the transmitter converter sends a charging command to the wireless charging receiver.

[0098] S420. After receiving the charging command, the wireless charging receiver determines whether it can charge the drone. If yes, proceed to step S430; if no, perform error correction and proceed to step S440.

[0099] S430, record the error value e, update the recorded average error value and charge;

[0100] S440: Based on the error range between the visual camera and the complete small marker block, the position of the wireless charging receiver is re-determined. After obtaining the new position of the wireless charging receiver relative to the wireless charging transmitter, step S300 is executed. Specifically, the wireless charging component includes a wireless charging receiver, a wireless charging transmitter, and a transmitter converter; the wireless charging transmitter and transmitter converter are located within the helipad; the wireless charging receiver is located on the drone. The wireless charging transmitter can move within the helipad via a transmission component located inside the helipad, and the wireless transmission receiver can move on the helipad via a centering mechanism located on the helipad. The transmitter converter is electrically connected to the wireless transmission transmitter, and can convert the 220V AC voltage obtained from the power grid into a stable 48V DC voltage before outputting it to the wireless transmission transmitter. Simultaneously, the transmitter converter has an external 2.4Hz antenna, which can connect to the antenna on the wireless transmission receiver, enabling wireless communication between the transmitter converter and the wireless charging receiver. The transmitter converter can send charging commands to the wireless charging receiver. After receiving the charging command, the wireless charging receiver determines whether the drone can be wirelessly charged. When the wireless charging components are precisely aligned, the drone can directly charge wirelessly. It also records the error parameters between the wireless charging receiver and the wireless charging transmitter, and updates the average error value for use in the next charging process. When the drone cannot charge directly, the alignment between the wireless charging receiver and the wireless charging transmitter is not good. The error is corrected, and a new position of the wireless charging receiver is determined within the error range. The positioning is adjusted according to the new position of the wireless charging receiver until it can charge directly.

[0101] As an optional implementation, the method for error correction and re-determining the location of the wireless charging receiver in S440 is as follows:

[0102] ((X1-Rsin∠QOM)±e,(Y1-Rcos∠QOM)±e);

[0103] (X1-Rsin∠QOM) is the x-coordinate of the wireless charging receiver in the coordinate system; (Y1-Rcos∠QOM) is the y-coordinate of the wireless charging receiver in the coordinate system; e is the error parameter within the error range. Specifically, there will be certain errors when positioning the wireless charging component. These errors include the translational deviation of the small marker block, the deviation of the transmission component's movement distance when moving the wireless charging transmitter, and the positional deviation of the wireless charging receiver during assembly. Due to uncontrollable factors during assembly or movement, the deviation of the transmission component's movement distance when moving the wireless charging transmitter and the positional deviation of the wireless charging receiver during assembly cannot be eliminated. To ensure accurate positioning of the wireless charging component, it is necessary to eliminate the translational deviation of the small marker block. Since the small marker block is considered as a point in the marker board coordinate system, but the small marker block actually has a certain area size, it will cause a certain deviation in the position of the small marker block in the marker board coordinate system, which is the translational deviation of the small marker block. The translation deviation of a small marker block can determine the error range of a small marker block. Within the error range, an error parameter is selected, and the position of the wireless charging receiver is redefined. That is, the error parameter is added to the previously determined horizontal and vertical coordinate values ​​of the wireless charging receiver in the marker board coordinate system to obtain new coordinate values. The alignment is then adjusted based on the new coordinate values.

[0104] The embodiment is merely a specific example and does not indicate that this is the only way to implement the present invention.

[0105] Example 2:

[0106] A wireless charging component positioning method, replacing steps S100 and S200 in Embodiment 1 with the following steps:

[0107] After the drone lands on the helipad, the UWB base station identifies and detects the UWB tag on the drone to determine the location of the wireless charging receiver. A new implementation method is thus formed, as shown in the following steps:

[0108] First, after the drone lands on the helipad, the UWB base station identifies and detects the UWB tag on the drone to determine the location of the wireless charging receiver.

[0109] Second, align and position the wireless charging receiver and wireless charging transmitter.

[0110] Third, error correction is performed on the wireless charging receiver and wireless charging transmitter for alignment and positioning, and the drone is wirelessly charged. Specifically, after the drone lands on the helipad, the UWB base stations installed at the four corners of the helipad can receive and transmit pulse signals sent by the UWB tags attached to the bottom of the drone. Since each tag has a unique ID, the object to be positioned (such as the wireless charging receiver) can be linked to the tag through this unique ID. The helipad can find the actual positioning position of the UWB tag through the received pulse signals and determine the position of the wireless charging receiver. Based on the actual positioning position of the wireless charging receiver, the positions of the wireless charging receiver and wireless charging transmitter are aligned and positioned. During alignment and positioning, the wireless charging transmitter can be moved in the X and Y axes by the transmission components installed inside the helipad to align the wireless charging transmitter with the wireless charging receiver; or the drone can be moved in the X and Y axes by the centering mechanism installed on the helipad to align the wireless charging transmitter with the wireless charging receiver. Currently, UWB positioning technology only achieves centimeter-level accuracy, with a maximum precision of 10cm, leaving an error margin of 20-30cm. This error is significant for wireless charging, which requires millimeter-level precision. Therefore, when a drone uses UWB for wireless charging, only an approximate location can be determined. Consequently, error correction is needed for the positions of the wireless charging receiver and transmitter. This error correction involves detecting and analyzing the increase or decrease in the coupling parameter between the receiver and transmitter to determine if coupling exists. If coupling is present, the process enters the coupling phase, checking if the coupling parameter is within a set threshold range. If within the threshold, the drone begins wireless charging; otherwise, further alignment is performed via a transmission mechanism or centering device until the coupling parameter falls within the threshold. When there is no coupling between the receiver and transmitter, moving either device initiates the coupling phase. When the detected coupling parameter is within the set threshold range, the wireless charging receiver and the wireless charging transmitter are precisely positioned to ensure that the drone can be wirelessly charged.

[0111] Example 3:

[0112] like Figures 8-10As shown, a wireless charging system for unmanned aerial vehicles (UAVs) is used to implement the wireless charging component positioning method of Embodiment 1 or Embodiment 2 to achieve wireless charging of the UAV. The system includes a UAV 1, a landing pad 2, and a wireless charging component. The wireless charging component includes a wireless charging receiver 11 and a wireless charging transmitter. The wireless charging receiver 11 is located in the middle of the bottom landing gear of the UAV 1 and is used to receive energy radiated by the wireless charging transmitter. The wireless charging transmitter is located inside the landing pad 2 and is used to transmit energy to the wireless charging receiver 11. The wireless charging component also includes a transmitter converter, which is electrically connected to a wireless transmission transmitter 21. The transmitter converter can convert the 220V AC voltage obtained from the power grid into a stable 48V DC voltage before outputting it to the wireless transmission transmitter 21. Simultaneously, a 2.4Hz antenna is externally connected to the transmitter converter, which can connect to the antenna on the wireless transmission receiver to achieve wireless communication between the transmitter converter and the wireless charging receiver 11. The transmitter converter can send charging commands to the wireless charging receiver 11.

[0113] A marker board 22 is installed on the helipad 2. The marker board 22 has multiple small marker blocks 221 arranged in an array, which facilitates position determination by the small marker blocks 221. A transmission assembly 24 is installed inside the helipad 2. The wireless transmission transmitter 21 is fixed on the transmission assembly 24. The transmission assembly 24 includes an X-axis structure 241 and a Y-axis structure 242. The X-axis structure 241 can drive the wireless transmission transmitter 21 to move in the X-axis direction, and the Y-axis structure 242 can drive the wireless transmission transmitter 21 to move in the Y-axis direction. Preferably, the X-axis structure 241 and the Y-axis structure 242 are driven by a motor.

[0114] In addition, UWB tags 12 can be set on the bottom of the drone 1, and UWB base stations 23 can be set on the four corners of the landing pad 2 to implement the wireless charging component positioning method of Embodiment 2.

[0115] The above description is merely a preferred embodiment of the present invention. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A method for locating a wireless charging component, characterized in that, Specifically, the steps include the following: After the S100 drone lands on the helipad, it acquires image information of the marker board below. S200. Based on the image information, determine the attitude of the drone, and calculate the position of the wireless charging receiver on the drone relative to the wireless charging transmitter on the helipad based on the attitude of the drone. S300: Align and position the wireless charging receiver and the wireless charging transmitter. S400: Correct the error of the wireless charging receiver and wireless charging transmitter that are aligned and positioned, and wirelessly charge the drone. S200 specifically includes the following steps: S210. After obtaining the image information, identify the information of the complete small marker block in the image information from the ArUco library, obtain the marker-id information corresponding to the complete small marker block, and determine the position of the visual camera on the UAV. S220 obtains the rotation vector of the complete small marker block relative to the marker board through the ArUco library, and selects a perpendicular vector of the X-axis to calculate the rotation angle of the UAV. S230. Calculate the position of the wireless charging receiver based on the rotation angle, the position of the visual camera, and the fixed distance between the visual camera and the wireless charging receiver. S240. Determine the relative position information between the wireless charging receiver and the wireless charging transmitter based on the position of the wireless charging receiver. S300 specifically includes the following steps: S310' The UAV is parked and fixed on the landing pad, and the landing pad controls the operation of the transmission components inside the landing pad; S320' The transmission component drives the wireless charging transmitter to move in the X-axis direction and the Y-axis direction according to the position of the wireless charging receiver and the wireless charging transmitter. S330' The wireless charging transmitter moves below the wireless charging receiver of the drone and is aligned with and positioned with the wireless charging receiver.

2. The wireless charging component positioning method according to claim 1, characterized in that, S210 specifically includes the following steps: A marker board coordinate system is constructed with one corner of the marker board as the origin N, and the wireless charging transmitter is set at the origin N. The marker board is provided with multiple small marker blocks, and each small marker block is provided with a QR code number. The ArUco library stores the marker-id information of each small marker block. The marker-id information includes the QR code number of the small marker block, and the XY coordinates and translation deviation of the small marker block corresponding to the QR code number in the marker board coordinate system; The visual camera and the complete small marker block in the image information are at the same point in the marker board coordinate system, denoted as O(X1, Y1), thus obtaining the position of the visual camera.

3. The wireless charging component positioning method according to claim 2, characterized in that, The method for calculating the rotation angle of the UAV in S220 is as follows: θ = arccos((A·B) / (|A| |B|)); A is the rotation vector of the complete small marker block relative to the marker board; B is the vertical vector perpendicular to the X-axis in the coordinate system of the marker board; |A| is the magnitude of the rotation vector; |B| is the magnitude of the vertical vector; θ is the rotation angle of the complete small marker block relative to the marker board. The attitude direction of the drone is a mirror image of the attitude direction of the marker board; therefore, the rotation angle of the drone is the inverse of θ.

4. The wireless charging component positioning method according to claim 3, characterized in that, The method for calculating the position of the wireless charging receiver in the coordinate system in step S230 is as follows: (X1-Rsin∠QOM,Y1-Rcos∠QOM); X1 is the x-coordinate of the visual camera in the coordinate system; Y1 is the y-coordinate of the visual camera in the coordinate system; ∠QOM is the rotation angle of the drone; R is the fixed distance between the visual camera and the wireless charging receiver.

5. The wireless charging component positioning method according to claim 1, characterized in that, S300 specifically includes the following steps: S310”, The wireless charging transmitter is fixed inside the helipad, and the helipad controls the centering mechanism set on the helipad to work; S320”, the centering mechanism drives the drone to move in the X-axis and Y-axis directions according to the positions of the wireless charging receiver and the wireless charging transmitter; S330”, the drone moves above the wireless charging transmitter, so that the wireless charging receiver on the drone is aligned and positioned with the wireless charging transmitter.

6. The wireless charging component positioning method according to claim 2, characterized in that, The S400 specifically includes the following steps: S410. After the wireless charging components are aligned, the transmitter converter of the wireless charging components converts the voltage signal and sends it to the wireless charging transmitter, and the transmitter converter sends a charging command to the wireless charging receiver. S420. After receiving the charging command, the wireless charging receiver determines whether it can charge the drone. If so, proceed to step S430; if not, perform error correction and proceed to step S440. S430, record the error value e, update the recorded average error value and charge; S440. Based on the error range between the visual camera and the complete small marker block, the position of the wireless charging receiver is re-determined, and after obtaining the new position of the wireless charging receiver relative to the wireless charging transmitter, step S300 is executed.

7. The wireless charging component positioning method according to claim 6, characterized in that, The method for correcting errors and re-determining the location of the wireless charging receiver in S440 is as follows: ((X1-Rsin∠QOM)±e,(Y1-Rcos∠QOM)±e); (X1-Rsin∠QOM) is the abscissa of the wireless charging receiver in the coordinate system; (Y1-Rcos∠QOM) is the ordinate of the wireless charging receiver in the coordinate system; e is the error parameter within the error range.

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