IPT-CPT multiplexing unmanned wireless charging system and application method thereof

Abstract

The invention discloses an IPT-CPT multiplexing unmanned wireless charging system and an application method thereof, and the method comprises the steps: setting a transmitting terminal which comprises an IPT transmitting terminal and a CPT transmitting terminal; an IPT transmitting end is arranged in the aircraft nest mechanism, and a CPT transmitting end and a receiving end are arranged in the flight mechanism; the aircraft nest mechanism is coupled and charged with the aircraft of the flight mechanism through the transmitting end. The aircraft nest mechanism comprises an aircraft plate, a sliding rail arranged on the aircraft plate and a nest body assembly arranged on the aircraft plate. According to the IPT-CPT multiplexing unmanned wireless charging system and the application method thereof, wireless charging of an IPT unmanned aerial vehicle or a CPT unmanned aerial vehicle is realized. When one mode is used for wireless charging of the unmanned aerial vehicle, the other coupling mechanism can form a resonance compensation network of the former together with a common LC resonance compensation circuit, that is, a coupling coil of the IPT system and a coupling pole plate of the CPT system serve as energy transmission channels and also serve as compensation elements of each other, and full utilization of the elements is achieved.

Description

Technical Field

[0001] The present invention relates to the field of wireless charging technology, and in particular to an IPT-CPT multiplexing unmanned wireless charging system and an application method thereof. Background Art

[0002] Wireless charging technology is simple, convenient and easy to automate. Unlike wired charging, which requires plugging in and out of a power interface, wireless charging technology allows the drone to start charging as soon as it lands at a designated location, and can achieve automated and intelligent charging of drones during missions. Therefore, applying wireless power transmission technology to the drone field can not only effectively increase the operating range of drones, but also meet the needs of unattended tasks during drone charging.

[0003] At present, the wireless power transmission technologies used in drones mainly include wireless power transmission (IPT) technology based on magnetic field coupling and wireless power transmission (CPT) technology based on electric field coupling. The IPT coupling mechanism is actually a loosely coupled transformer that uses the Faraday electromagnetic induction principle to achieve energy transmission. The CPT coupling mechanism can be regarded as a capacitor with air as the medium.

[0004] In practical applications, whether it is an IPT or CPT system, in order to improve the system transmission efficiency, a specific compensation topology is required to make the system resonate and eliminate the inflow of reactive power. In the IPT system, the coupling coil must be connected to an external capacitor to compensate for the inductive reactance generated by the coil. In the CPT system, the coupling plate must be connected to an external inductor to compensate for the capacitive reactance generated by the plate. Both coupling mechanisms require external compensation.

[0005] At present, there are few studies on IPT-CPT wireless power transmission systems at home and abroad, and most of them use IPT and CPT to transmit energy at the same time, or IPT transmits energy while CPT transmits signals. However, due to weight restrictions, it is difficult to combine IPT and CPT at the drone receiving end at the same time. Therefore, it is necessary to consider the drone transmitter to meet both IPT and CPT types of drone receivers. However, the existing drone wireless charging system transmitter cannot meet the use requirements of IPT and CPT drone wireless charging receivers at the same time. Summary of the invention

[0006] In view of the problems existing in the above-mentioned existing IPT-CPT multiplexing unmanned wireless charging system, the present invention is proposed.

[0007] Therefore, the purpose of the present invention is to provide an IPT-CPT multiplexed unmanned wireless charging system, the purpose of which is to simultaneously meet the use requirements of IPT and CPT unmanned aerial vehicle wireless charging receiving terminals.

[0008] In order to solve the above technical problems, the present invention provides the following technical solutions: comprising setting a transmitting end, wherein the transmitting end comprises an IPT transmitting end and a CPT transmitting end;

[0009] An IPT transmitter is set in the nest mechanism, and a CPT transmitter and receiver are set in the flight mechanism;

[0010] The transmitting end is coupled with the aircraft of the flying mechanism for charging.

[0011] As a preferred solution of the IPT-CPT multiplexing unmanned wireless charging system of the present invention, wherein: the machine nest mechanism includes a machine board, a slide rail arranged on the machine board, and a nest body assembly arranged on the machine board;

[0012] The flight mechanism is arranged on the machine board, and comprises a landing platform which is arranged on the slide rail and can slide, a receiving component arranged in the landing platform, a drone which stays on the receiving component, and an IPT receiving coil arranged on the drone.

[0013] As a preferred solution of the IPT-CPT multiplexing unmanned wireless charging system of the present invention, wherein: the nest assembly includes a drone nest fixed on the machine board and an IPT transmitting coil arranged on the inner end surface of the drone nest;

[0014] The IPT receiving coil is arranged on the top of the drone, and the IPT receiving coil can be coupled with the IPT transmitting coil.

[0015] As a preferred solution of the IPT-CPT multiplexing unmanned wireless charging system of the present invention, the receiving component includes a first CPT emitter plate arranged in the landing platform, a first dielectric plate arranged on the first CPT emitter plate, a second CPT emitter plate connected to the first dielectric plate, a second dielectric plate arranged on the second CPT emitter plate and the first CPT emitter plate, a first CPT receiving plate connected to the second dielectric plate in the first CPT emitter plate, and a second CPT receiving plate connected to the second dielectric plate in the second CPT emitter plate.

[0016] As a preferred solution of the IPT-CPT multiplexing unmanned wireless charging system of the present invention, the first CPT emitter plate includes a first horizontal plate and a second horizontal plate arranged in parallel and staggered manner, the first horizontal plate and the second horizontal plate are connected by a vertical plate, and a first dielectric plate is arranged on the second horizontal plate.

[0017] As a preferred solution of the IPT-CPT multiplexing unmanned wireless charging system of the present invention, wherein: the first horizontal plate and the second CPT emitter plate are both provided with a second dielectric plate;

[0018] The upper end surface of the second CPT emitter plate is flush with the upper end surface of the first transverse plate.

[0019] As a preferred solution of the IPT-CPT multiplexing unmanned wireless charging system of the present invention, wherein: one end of the IPT transmitting coil is electrically connected to the first CPT transmitting plate;

[0020] The transmitting end specifically includes an IPT transmitting coil, a first CPT transmitting plate and a second CPT transmitting plate;

[0021] The first CPT receiving plate and the second CPT receiving plate are respectively connected to two supporting legs at the lower end of the drone, and the first CPT receiving plate and the second CPT receiving plate are respectively opposite to the first cross plate and the second CPT transmitting plate.

[0022] As a preferred solution of the IPT-CPT multiplexing unmanned wireless charging system of the present invention, wherein: the transmitting end also includes a DC power supply, a high-frequency inverter and a primary compensation network connected in sequence;

[0023] The primary compensation network includes a primary compensation inductor L fp And the primary compensation inductor C p , the primary compensation inductor L fp One end of the primary compensation inductor L is connected to an output end of the high-frequency inverter. fp The other end of the primary compensation inductor C p Connected to the other end of the IPT transmitting coil, the primary compensation inductor C p The other end is connected to the other output end of the high frequency inverter and to the second CPT emitter plate.

[0024] As a preferred solution of the IPT-CPT multiplexing unmanned wireless charging system of the present invention, wherein: the receiving end IPT receiving end and CPT receiving end, the IPT receiving end specifically includes an IPT receiving coil, a secondary side compensation network and a secondary rectifier, the output end of the secondary rectifier is connected to the load R L connect;

[0025] The first CPT emitter plate and the second CPT emitter plate constitute a primary compensation inductor C fp , the primary compensation inductor L fp , primary compensation inductor C p And the primary compensation inductor C fp Constitute the primary side LCC compensation network;

[0026] The secondary side compensation network is a secondary side LCC compensation network that is symmetrically arranged with the primary side LCC compensation network;

[0027] The CPT receiving end includes a first CPT receiving plate, a second CPT receiving plate, a secondary side compensation network and a secondary rectifier;

[0028] The first CPT receiving plate and the second CPT receiving plate are respectively connected to the two input ends of the secondary compensation network, the output end of the secondary compensation network is connected to the secondary rectifier, and the output end of the secondary rectifier is connected to the load R L connect;

[0029] The primary compensation inductor L fp , primary compensation inductor C p The primary side LCL compensation network is formed with the IPT transmitting coil, and the secondary side compensation network is a secondary side LCL compensation network which is symmetrically arranged with the primary side LCL compensation network.

[0030] In view of the problems existing in the above-mentioned existing IPT-CPT multiplexing unmanned wireless charging system application method, the present invention is proposed.

[0031] Therefore, the purpose of the present invention is to provide an application method of an IPT-CPT multiplexing unmanned wireless charging system, and its purpose is to enable the IPT and CPT unmanned aerial vehicle wireless charging receiving terminals to be used normally through this method.

[0032] In order to solve the above technical problems, the present invention provides the following technical solutions: when the drone is loaded with an IPT receiving end, the IPT receiving coil of the drone is coupled with the IPT transmitting coil for charging, and the first CPT emitter plate and the second CPT emitter plate constitute a primary compensation capacitor;

[0033] When the drone is loaded with the CPT receiving end, the first CPT receiving plate and the second CPT receiving plate of the drone are positively coupled with the first CPT transmitting plate and the second CPT transmitting plate for charging, respectively. At this time, the IPT transmitting coil serves as the primary compensation inductor;

[0034] When the IPT drone stops in the nest to charge, the high-frequency alternating magnetic field generated by the coil will be captured by the IPT drone and induce a high-frequency alternating voltage;

[0035] When the CPT drone stops in the nest to charge, the high-frequency alternating electric field generated by the transmitting plate is captured by the receiving plate at the CPT drone end, and induces a high-frequency alternating voltage that enters the resonant compensation circuit at the receiving end.

[0036] The beneficial effects of the present invention are as follows: wireless charging of an IPT drone or a CPT drone is realized. When wireless charging of a drone is performed using one of the methods, the other coupling mechanism can form a resonant compensation network of the former together with a common LC resonant compensation circuit, that is, the coupling coil of the IPT system and the coupling plate of the CPT system act as energy transmission channels and also as compensation elements of each other, thus achieving full utilization of the elements. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0038] Figure 1 It is a schematic diagram of the overall structure of the CPT mode of the unmanned wireless charging system and its application method of the IPT-CPT multiplexing of the present invention.

[0039] Figure 2 It is a schematic diagram of a half-section structure of a drone nest in the IPT mode of the IPT-CPT multiplexing unmanned wireless charging system and its application method of the present invention.

[0040] Figure 3 It is a schematic diagram of the structure of the CPT coupling receiving component in the CPT mode of the unmanned wireless charging system and application method of the IPT-CPT multiplexing of the present invention.

[0041] Figure 4 This is a schematic diagram of the structure of the first CPT emitter plate of the IPT-CPT multiplexing unmanned wireless charging system and its application method of the present invention.

[0042] Figure 5 The overall structural diagram of the unmanned aerial vehicle wireless charging system of the IPT-CPT multiplexing unmanned wireless charging system and its application method of the present invention is shown.

[0043] Figure 6 This is a topology diagram of the unmanned aerial vehicle wireless energy transmission system in the IPT mode of the IPT-CPT multiplexing unmanned wireless charging system and its application method of the present invention.

[0044] Figure 7 This is an equivalent circuit diagram of a bilateral LCC-type IPT system in the IPT mode of the unmanned wireless charging system and its application method for IPT-CPT multiplexing of the present invention.

[0045] Figure 8 This is a topology diagram of the unmanned aerial vehicle wireless energy transmission system in CPT mode of the IPT-CPT multiplexing unmanned wireless charging system and its application method of the present invention.

[0046] Fig. 9 This is a full coupling capacitor model diagram of the unmanned wireless charging system and its application method for IPT-CPT multiplexing in the CPT mode of the present invention.

[0047] Fig.10 This is an equivalent two-port network model diagram of the unmanned wireless charging system and its application method for IPT-CPT multiplexing of the present invention in CPT mode.

[0048] Fig.11 This is a bilateral LCL topology fundamental wave approximation circuit diagram of the unmanned wireless charging system and its application method for IPT-CPT multiplexing in the CPT mode of the present invention.

[0049] Fig.12 This is a diagram of the cross-coupling capacitance simulation results of the unmanned wireless charging system and its application method of the IPT-CPT multiplexing of the present invention.

[0050] Fig.13 This is a COMSOL electric field strength simulation result diagram of the unmanned wireless charging system and application method of the IPT-CPT multiplexing of the present invention.

[0051] Fig.14 This is a common LC resonant network structure diagram of the coupling mechanism of the unmanned wireless charging system and its application method for IPT-CPT multiplexing of the present invention.

[0052] Fig.15 The graph is a graph of the inverter and rectifier output voltage and current in the IPT mode during the simulation of the IPT-CPT multiplexing unmanned wireless charging system and its application method of the present invention.

[0053] Fig.16 The graph is a graph of the inverter and rectifier output voltage and current in the CPT mode during the simulation of the unmanned wireless charging system and its application method using IPT-CPT multiplexing of the present invention. DETAILED DESCRIPTION

[0054] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0056] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0057] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0058] Example 1

[0059] Reference Figure 1 to Figure 4 , which is the first embodiment of the present invention, provides an IPT-CPT multiplexing unmanned wireless charging system device, which includes a nest mechanism 100 and a flying mechanism 200.

[0060] Among them, the nest mechanism 100 includes a machine board 101, a slide rail 102 arranged on the machine board 101, and a nest assembly 103 arranged on the machine board 101. The nest assembly 103 includes a drone nest 103a fixed on the machine board 101 and an IPT transmitting coil 103b arranged on the inner end surface of the drone nest 103a. The flight mechanism 200 is arranged on the machine board 101, which includes a landing platform 201 that can slide on the slide rail 102, a receiving assembly 202 arranged in the landing platform 201, a drone 203 resting on the receiving assembly 202, and an IPT receiving coil 204 arranged on the drone 203.

[0061] During use, when the drone 203 falls onto the landing platform 201, the landing platform 201 can transport the drone 203 to the drone nest 103a by moving on the slide rail 102. At this time, the IPT transmitting coil 103b of the drone nest 103a can couple with the IPT receiving coil 204, thereby charging the drone 203.

[0062] It is a prior art that the IPT receiving coil 204 charges the drone 203 and will not be described in detail here.

[0063] Furthermore, the receiving component 202 includes a first CPT emitter plate 202a arranged in the landing platform 201, a first dielectric plate 202b arranged on the first CPT emitter plate 202a, a second CPT emitter plate 202b connected to the first dielectric plate 202b, a second dielectric plate 202d arranged on the second CPT emitter plate 202b and the first CPT emitter plate 202a, a first CPT receiving plate 202e connected to the second dielectric plate 202d in the first CPT emitter plate 202a, and a second CPT receiving plate 202f connected to the second dielectric plate 202d in the second CPT emitter plate 202b.

[0064] Among them, the first CPT emitter plate 202a is formed by folding a metal plate and is arranged in the landing platform 201. The first CPT emitter plate 202a includes a first horizontal plate 202a-1 and a second horizontal plate 202a-3 which are arranged in parallel and staggered. The first horizontal plate 202a-1 and the second horizontal plate 202a-3 are connected by a vertical plate 202a-2. The second horizontal plate 202a-3 is provided with a first dielectric plate 202c. One end of the IPT transmitting coil 103b is electrically connected to the first CPT emitter plate 202a. The upper end surface of the second CPT emitter plate 202b is flush with the upper end surface of the first horizontal plate 202a-1.

[0065] The landing platform 201 can slide out of the drone nest 103a along the slide rail 102. When the drone 203 lands, the landing platform 201 slides out of the drone nest 103a. After the drone 203 lands, the landing platform 201 and the drone 203 to be charged slide into the drone nest 103a again.

[0066] Example 2

[0067] Reference Figures 1 to 8 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in: system and use.

[0068] Compared with the embodiment 1, further, the transmitting end specifically includes an IPT transmitting coil 103b, a first CPT transmitting plate 202a and a second CPT transmitting plate 202b;

[0069] The first CPT receiving plate 202e and the second CPT receiving plate 202f are respectively connected to the two supporting legs at the lower end of the drone 203, and the first CPT receiving plate 202e and the second CPT receiving plate 202f are respectively opposite to the first horizontal plate 202a-1 and the second CPT transmitting plate 202b.

[0070] The transmitting end can be coupled with the IPT drone 203 or the CPT drone 203 for charging.

[0071] When the drone 203 is loaded with the IPT receiving end, the IPT receiving coil 204 of the drone 203 is coupled with the IPT transmitting coil 103b for charging. At this time, the first CPT emitter plate 202a and the second CPT emitter plate 202b constitute a primary compensation capacitor.

[0072] When the drone 203 is loaded with the CPT receiving end, the first CPT receiving plate 202e and the second CPT receiving plate 202f of the drone 203 are respectively coupled with the first CPT transmitting plate 202a and the second CPT transmitting plate 202b for charging. At this time, the IPT transmitting coil 103b serves as the primary compensation inductor, that is, the coupling coil of the IPT system and the coupling plate of the CPT system act as energy transmission channels and also as compensation elements for each other, thereby achieving full utilization of the elements.

[0073] The transmitting end also includes a DC power supply, a high-frequency inverter and a primary compensation network connected in sequence. The primary compensation network includes a primary compensation inductor L fp And the primary compensation inductor C p , primary compensation inductor L fp One end of the primary compensation inductor L is connected to an output end of the high-frequency inverter. fp The other end of the primary compensation inductor C p After connection, it is connected to the other end of the IPT transmitting coil 103b, and the primary compensation inductance C p The other end is connected to the other output end of the high frequency inverter and then connected to the second CPT emitter plate 202b.

[0074] During use, the drone nest first converts the DC power supply into high-frequency AC power of hundreds of kHz to MHz through a high-frequency inverter, and then the high-frequency AC power passes through the primary compensation network circuit. The primary compensation network circuit can compensate for the reactive power of the coupling mechanism on the one hand, and play a role of filtering and impedance transformation on the other hand.

[0075] When the IPT drone parks in the nest for charging, the high-frequency alternating magnetic field generated by the coil will be captured by the IPT drone, and a high-frequency alternating voltage will be induced; when the CPT drone parks in the nest for charging, the high-frequency alternating electric field generated by the emitter plate will be captured by the receiving plate on the CPT drone end, and a high-frequency alternating voltage will be induced to enter the resonant compensation circuit at the receiving end. The resonant compensation circuit at the receiving end is mainly used for impedance transformation. The secondary rectifier on the drone will transform and adjust the high-frequency alternating voltage output by the resonant compensation circuit so that it can ultimately meet the requirements of different loads. The bridge uncontrolled rectifier circuit is currently the most commonly used rectifier circuit.

[0076] Considering that the IPT system requires capacitance compensation and the CPT system requires inductance compensation, the IPT system is combined with the CPT system. The coupling coil of the IPT system and the coupling plate of the CPT system serve as energy transmission channels and also as compensation elements for each other, thus achieving full utilization of the elements.

[0077] When the inductive energy transmission coil is used to wirelessly charge the IPT UAV, the equivalent capacitance formed by the emitter plate of the electric field coupling mechanism can form a resonant compensation network of the inductive energy transmission coil together with the common resonant compensation circuit;

[0078] When the CPT UAV is wirelessly charged using an electric field energy transmission plate, the self-inductance of the transmitting coil of the inductive coupling mechanism can form a resonant compensation network of the electric field transmitting plate together with the common resonant compensation circuit.

[0079] Furthermore, the high frequency inverter is a full-bridge inverter circuit composed of switch tubes S1 to S4.

[0080] The remaining structures are the same as those of Example 1.

[0081] Example 3

[0082] Reference Figures 1 to 16 , which is the third embodiment of the present invention. This embodiment is different from the second embodiment in that the receiving end is an IPT receiving end, which includes an IPT receiving coil 204, a secondary compensation network and a secondary rectifier connected in sequence, and the output end of the secondary rectifier is connected to the load RL.

[0083] Compared with Example 2, further, the IPT receiving coil 204 is arranged on the top of the drone 203. When the drone 203 is charged, the IPT receiving coil 204 is coupled with the IPT transmitting coil 103b, and the first CPT emitter plate 202a and the second CPT emitter plate 202b constitute the primary compensation inductor C fp , primary compensation inductor L fp , primary compensation inductor C p And the primary compensation inductor C fp A primary-side LCC compensation network is formed, and the secondary-side compensation network is a secondary-side LCC compensation network that is symmetrically arranged with the primary-side LCC compensation network.

[0084] The secondary rectifier is an uncontrolled rectifier circuit composed of diodes D1 to D4. The self-inductances of the IPT transmitting coil 103b and the IPT receiving coil 204 are L p and L s , C fpis the capacitance between the first CPT emitter plate 202a and the second CPT emitter plate 202b, the mutual inductance between the IPT transmitting coil 103b and the IPT receiving coil 204 is M, and the secondary compensation network includes the secondary compensation inductor L fs , secondary compensation capacitor C s and C fs , R L is the equivalent resistance of the battery load, so refer to the formula:

[0085]

[0086] Where k is the coupling coefficient between the IPT transmitter coil 103b and the IPT receiver coil 204.

[0087] The condition for the complete resonance of the bilateral LCC compensation system is:

[0088]

[0089] Among them, ω I This is the system resonant angular frequency at this time.

[0090] refer to Figure 7 For its equivalent circuit, a steady-state model is established based on the bilateral LCC type IPT system. The primary and secondary inductances, the internal resistance of the coil, the parasitic parameters of each component and the leakage flux of the loosely coupled transformer are ignored, and the system is analyzed using the fundamental wave equivalent method.

[0091] The equivalent load on the input side of the uncontrolled rectifier on the secondary side is R eq =8R L / π 2 , write the KVL formula as:

[0092]

[0093] Substituting into the resonance condition:

[0094]

[0095] The solution is:

[0096]

[0097] Among them, Z s is the input impedance of the secondary receiving coil; Z r is the input impedance of the primary transmitting coil; Z p is the input impedance of the system; jω is the angular frequency expression in the complex frequency domain; C fs , C s is the capacitance value of the secondary compensation capacitor; C p , C fp is the primary compensation inductance; Lp L is the self-inductance of the IPT transmitting coil 103b; fs is the inductance value of the secondary side compensation inductor; L fp is the primary compensation inductance; L s I is the self-inductance of the IPT receiving coil 204; Lfp For the flow through L fp The current I p is the transmitting coil current; I s is the receiving coil current; U o is the load voltage; I o is the load current; P o is the output power; U AB is the system input voltage obtained by the fundamental wave equivalent method; R eq is the equivalent load on the input side of the uncontrolled rectifier on the secondary side; M is L p and L s The mutual inductance between them; ω is the system angular frequency.

[0098] Furthermore, the receiving end is a CPT receiving end, which includes a first CPT receiving plate 202e, a second CPT receiving plate 202f, a secondary compensation network and a secondary rectifier. The first CPT receiving plate 202e and the second CPT receiving plate 202f are respectively connected to two input ends of the secondary compensation network, the output end of the secondary compensation network is connected to the secondary rectifier, and the output end of the secondary rectifier is connected to the load R L connect.

[0099] The first CPT receiving plate 202e and the second CPT receiving plate 202f are respectively arranged on two supporting legs at the lower end of the drone 203. When the drone 203 is charged, the first CPT receiving plate 202e and the second CPT receiving plate 202f are respectively opposite to the first horizontal plate 202a-1 and the second CPT transmitting plate 202b.

[0100] refer to Figure 8 The primary side compensation inductor Lfp, the primary side compensation inductor Cp and the IPT transmitting coil 103b constitute a primary side LCL compensation network, and the secondary side compensation network is a secondary side LCL compensation network symmetrically arranged with the primary side LCL compensation network.

[0101] The secondary rectifier is an uncontrolled rectifier circuit composed of diodes D1 to D4. in is the effective value of the AC power supply, ω is the system angular frequency, L p is the self-inductance of the IPT transmitting coil 103b, L s- and L fs is the inductance value of the secondary compensation inductor, C s is the capacitance value of the secondary side compensation capacitor.

[0102] P1 and P2 are respectively the first CPT emitter plate 202a and the second CPT emitter plate 202b, P3 and P4 are respectively the first CPT receiver plate 202e and the second CPT receiver plate 202f. In the IPT mode, the coupling capacitor formed by P1 and P2 is used to compensate for the coil self-inductance, R L is the AC load resistance.

[0103] refer to Fig. 9 There is coupling between every two plates. These four plates can form a total of 6 coupling capacitors, namely C 12 , C 13 , C 14 , C 23 , C 24 , C 34 Among these 6 capacitors, capacitor C 13 , C 24 It is called the energy transfer coupling mutual capacitance, capacitance C 12 , C 34 It is called the port self-capacitance, capacitance C 23 , C 14 It is called cross-coupling capacitor.

[0104] refer to Fig.10 , C 12 , C 13 , C 14 , C 23 , C 24 , C 34 These six capacitors are connected in series and in parallel with each other, forming an equivalent two-port network model of the quadrupole coupling mechanism of the CPT system.

[0105] refer to Fig.11 The decoupling of the fundamental wave approximate circuit model is simplified as follows: when the higher harmonics are ignored and the loss of switching devices is not considered, the controlled voltage source substitution method can be used to decouple the circuit with primary and secondary side coupling.

[0106] In the fundamental wave approximation circuit model, the parameters C1, C2 and C M They are defined as:

[0107]

[0108] Using this topology, a constant current output can be achieved at the output port that is not affected by the load, defined as:

[0109]

[0110] in:

[0111] The parameter design of the passive resonant element follows the following resonance conditions:

[0112]

[0113] The output current and output power are:

[0114]

[0115] Among them, ω C is the system operating angular frequency; C ip is the equivalent capacitance value from the transmitter board to the secondary side; C is is the equivalent capacitance value from the receiver board to the primary side; C P is the primary compensation inductor; V in is the system input voltage; R L is the battery load equivalent resistance; is the square of the coupling coefficient; L s is the self-inductance of the IPT receiving coil 204; L p L is the self-inductance of the IPT transmitting coil 103b; fs is the inductance value of the secondary side compensation inductor; L fp Compensation inductance for the primary side.

[0116] System simulation verification:

[0117] Based on the COMSOL simulation platform, a UAV nest combining a stacked CPT flat plate coupling mechanism and an IPT coil was designed. The CPT coupling mechanism model is shown in the figure. Figure 3 As shown, the first CPT emitter plate 202a, the second CPT emitter plate 202b, the first CPT receiver plate 202e and the second CPT receiver plate 202f are all 2 mm thick metal aluminum plates, and the first dielectric plate 202c and the second dielectric plate 202d are both made of 2 mm thick quartz as dielectric.

[0118] The size of the first CPT emitter plate 202a is 500mm×500mm, the size of the second CPT emitter plate 202b is 500mm×247mm, the size of the first CPT receiving plate 202e and the second CPT receiving plate 202f are both 200mm×10mm. In order to reduce the eddy current loss in the IPT mode, the IPT coil is placed above the emitter plate, and the metal aluminum plate on the outside of the coil can also serve as a magnetic shield for the coil.

[0119] The system is simulated with the above parameters and the simulation results are analyzed:

[0120] Set the terminal potential of the four plates and perform a parametric sweep study to obtain the matrix calculation results as follows Fig.12As shown, the six cross-coupling capacitance values ​​are 2367.4pF, 56.489pF, 0.14348pF, 0.09184pF, 56.071pF, and 0.0026398pF respectively.

[0121] refer to Fig.13 ,In addition, considering the safety issue, the leakage electric field strength at 850kHz should be less than 614V / m. ,The plate voltage value is brought into the finite element simulation model to obtain the ,distribution of the electric field strength.

[0122] According to the mathematical model of the quadrupole coupling mechanism and the derivation of the equivalent circuit, the coupled self-capacitance (C1, C2) and coupled mutual capacitance (C M ) and other concepts and their expressions:

[0123]

[0124] It can be seen that since the area of ​​the primary coupling plate is relatively large compared to the secondary plate, it plays a major role in the six cross-coupling capacitor values. The value of C1 and C 12 The values ​​of are not much different, so we can calculate that k c =0.1080, C ip =0.9883C1=2367.6pF.

[0125] refer to Fig.14 , considering the CPT coupling mechanism and the IPT coupling mechanism as a whole, a common resonant network of LC can be added at the front end. After the IPT and CPT coupling mechanisms are determined, L p and C fp The value of is also determined accordingly, so the L of the common LC resonant network can be determined fp and C p value.

[0126] From the above COMSOL simulation, we know that the coupling capacitance between the emitter plates of the CPT system is C fp =C 12 =2.3674nF, set the self-inductance L of the transmitting coil of the drone IPT system p =28uH, the operating frequency of IPT and CPT system is 850kHz, it can be calculated that C p =2.658nF, L fp =13.19uH.

[0127] The system transmission performance is analyzed through the above parameters:

[0128] refer to Fig.15 and Fig.16, the system equivalent model with IPT-CPT multiplexing function mentioned above is simulated by Simulink, and the inverter output waveform and output voltage and current waveform in IPT mode and CPT mode are obtained. The system can achieve stable power output in both IPT mode and CPT mode.

[0129] In summary, by setting up a drone nest with both IPT and CPT charging modes, wireless charging can be performed for drones with corresponding charging modes. When an IPT drone lands on the charging nest platform, the IPT transmitting coil is used to charge the drone. When a CPT drone lands on the charging nest, the CPT transmitting plate is used to charge the drone. The self-inductance formed by the coil and the self-capacitance formed by the plate resonate together with the common resonant compensation topology, that is, IPT and CPT have a multiplexing function, and the charging mode can be switched arbitrarily between the IPT mode and the CPT mode to charge a specific drone, which has stronger versatility.

[0130] The remaining structure is the same as that of Example 2.

[0131] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and ratio of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of the execution function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to several modifications still falling within the scope of the appended claims.

[0132] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0133] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An IPT-CPT multiplexing unmanned wireless charging system, characterized by: include, Setting a transmitting end, wherein the transmitting end includes an IPT transmitting end and a CPT transmitting end; An IPT transmitting end is arranged in the nest mechanism (100), and a CPT transmitting end and a receiving end are arranged in the flight mechanism (200); The transmitting end is coupled with the aircraft of the flying mechanism (200) for charging.

2. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 1 is characterized in that: The nest mechanism (100) comprises a machine plate (101), a slide rail (102) arranged on the machine plate (101), and a nest assembly (103) arranged on the machine plate (101); The flight mechanism (200) is arranged on the machine board (101), and comprises a slidable landing platform (201) arranged on the slide rail (102), a receiving component (202) arranged in the landing platform (201), a drone (203) resting on the receiving component (202), and an IPT receiving coil (204) arranged on the drone (203).

3. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 2 is characterized in that: The nest assembly (103) comprises a drone nest (103a) fixed on the machine board (101) and an IPT transmitting coil (103b) arranged on the inner end surface of the drone nest (103a); The IPT receiving coil (204) is arranged on the top of the drone (203), and the IPT receiving coil (204) can be coupled with the IPT transmitting coil (103b).

4. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 3 is characterized in that: The receiving assembly (202) comprises a first CPT emitting plate (202a) arranged in the landing platform (201), a first dielectric plate (202b) arranged on the first CPT emitting plate (202a), a second CPT emitting plate (202b) connected to the first dielectric plate (202b), a second dielectric plate (202d) arranged on the second CPT emitting plate (202b) and the first CPT emitting plate (202a), a first CPT receiving plate (202e) connected to the second dielectric plate (202d) in the first CPT emitting plate (202a), and a second CPT receiving plate (202f) connected to the second dielectric plate (202d) in the second CPT emitting plate (202b).

5. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 4 is characterized in that: The first CPT emitter plate (202a) comprises a first transverse plate (202a-1) and a second transverse plate (202a-3) which are arranged in parallel and staggered, the first transverse plate (202a-1) and the second transverse plate (202a-3) are connected via a vertical plate (202a-2), and a first dielectric plate (202c) is arranged on the second transverse plate (202a-3).

6. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 5 is characterized in that: A second dielectric plate (202d) is disposed on both the first transverse plate (202a-1) and the second CPT emitter plate (202b); The upper end surface of the second CPT emitter plate (202b) is flush with the upper end surface of the first transverse plate (202a-1).

7. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 5 or 6, characterized in that: One end of the IPT transmitting coil (103b) is electrically connected to the first CPT transmitting plate (202a); The transmitting end specifically comprises an IPT transmitting coil (103b), a first CPT transmitting plate (202a) and a second CPT transmitting plate (202b); The first CPT receiving plate (202e) and the second CPT receiving plate (202f) are respectively connected to two supporting legs at the lower end of the drone (203); the first CPT receiving plate (202e) and the second CPT receiving plate (202f) are respectively opposite to the first horizontal plate (202a-1) and the second CPT transmitting plate (202b).

8. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 7 is characterized in that: The transmitting end also includes a DC power supply, a high-frequency inverter and a primary compensation network connected in sequence; The primary compensation network includes a primary compensation inductor L fp And the primary compensation inductor C p , the primary compensation inductor L fp One end of the primary compensation inductor L is connected to an output end of the high-frequency inverter. fp The other end of the primary compensation inductor C p connected to the other end of the IPT transmitting coil (103b), the primary compensation inductor C p The other end is connected to the other output end of the high frequency inverter and is connected to the second CPT emitter plate (202b).

9. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 8 is characterized in that: The receiving end is an IPT receiving end and a CPT receiving end. The IPT receiving end specifically includes an IPT receiving coil (204), a secondary side compensation network and a secondary rectifier. The output end of the secondary rectifier is connected to a load R L connect; The first CPT emitter plate (202a) and the second CPT emitter plate (202b) constitute a primary compensation inductor C fp , the primary compensation inductor L fp , primary compensation inductor C p And the primary compensation inductor C fp Constitute the primary side LCC compensation network; The secondary side compensation network is a secondary side LCC compensation network that is symmetrically arranged with the primary side LCC compensation network; The CPT receiving end comprises a first CPT receiving plate (202e), a second CPT receiving plate (202f), a secondary side compensation network and a secondary rectifier; The first CPT receiving plate (202e) and the second CPT receiving plate (202f) are respectively connected to two input ends of the secondary compensation network, the output end of the secondary compensation network is connected to the secondary rectifier, and the output end of the secondary rectifier is connected to the load R L connect; The primary compensation inductor L fp , primary compensation inductor C p The primary side LCL compensation network is formed with the IPT transmitting coil (103b), and the secondary side compensation network is a secondary side LCL compensation network which is symmetrically arranged with the primary side LCL compensation network.

10. An application method of an IPT-CPT multiplexing unmanned wireless charging system, characterized in that: The unmanned wireless charging system comprising the IPT-CPT multiplexing described in any one of claims 1 to 9 further comprises: When the drone (203) is loaded with the IPT receiving end, the IPT receiving coil (204) of the drone (203) is coupled with the IPT transmitting coil (103b) for charging, and the first CPT emitter plate (202a) and the second CPT emitter plate (202b) form a primary compensation capacitor; When the drone (203) is loaded with the CPT receiving end, the first CPT receiving plate (202e) and the second CPT receiving plate (202f) of the drone (203) are positively coupled with the first CPT emitting plate (202a) and the second CPT emitting plate (202b) for charging, respectively, and at this time, the IPT transmitting coil (103b) serves as a primary side compensation inductor; When the IPT drone (203) stops in the nest for charging, the high-frequency alternating magnetic field generated by the coil will be captured by the IPT drone (203) and induce a high-frequency alternating voltage; When the CPT drone (203) stops in the nest for charging, the high-frequency alternating electric field generated by the transmitting plate is captured by the receiving plate at the drone end of the CPT (203), and a high-frequency alternating voltage is induced to enter the resonant compensation circuit at the receiving end.

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