Unmanned aerial vehicle wireless charging magnetic coupling mechanism with high structural adaptability

Abstract

The invention discloses an unmanned aerial vehicle wireless charging magnetic coupling mechanism with high structural adaptability, and relates to an unmanned aerial vehicle wireless charging magnetic coupling mechanism. The problem that existing unmanned aerial vehicle charging equipment cannot adapt to unmanned aerial vehicle magnetic coupling mechanisms of different models and different sizes is solved. The device comprises a transmitting coil A1, a transmitting coil B1, a transmitting coil A2, a transmitting coil B2, a transmitting end nanocrystalline magnetic core, a receiving coil alpha 1, a receiving coil alpha 2, a receiving coil beta and a receiving end nanocrystalline magnetic core, the transmitting coil A1, the transmitting coil B1, the transmitting coil A2 and the transmitting coil B2 are arranged in a rectangular array to form a square transmitting coil, the transmitting coil A1 and the transmitting coil A2 are arranged diagonally, the transmitting coil B1 and the transmitting coil B2 are arranged diagonally, and the transmitting end nanocrystalline magnetic core is arranged below the transmitting coils; the receiving coils alpha 1, alpha 2 and beta are installed on an undercarriage of the unmanned aerial vehicle, and the receiving end nanocrystalline magnetic core is installed between the undercarriage and the receiving coils. The invention belongs to the technical field of unmanned aerial vehicle wireless charging.

Description

Technical Field

[0001] The invention relates to a magnetic coupling mechanism for wireless charging of unmanned aerial vehicles, belonging to the technical field of wireless charging of unmanned aerial vehicles. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in various fields such as logistics and transportation, agricultural monitoring, and security patrols. However, these different application scenarios have put forward diverse requirements on the structural size, battery voltage, and power level of drones. There are many types of drones on the market, ranging from small recreational drones to large industrial drones, with different sizes and battery parameters. This diversity brings great challenges to the design of drone charging equipment.

[0003] The rise of wireless charging technology for drones is a response to the many limitations of traditional wired charging methods. Wired charging requires physical contact, which not only increases the difficulty and time of drone docking, but is also prone to charging failures due to connector wear or environmental impact. Wireless charging uses electromagnetic induction or magnetic coupling technology, which does not require physical contact. As long as the drone enters the charging area, it can be charged, which greatly simplifies the charging process and improves the operating efficiency of the drone.

[0004] At present, wireless charging technologies for drones mainly include electromagnetic induction wireless charging, magnetic coupling resonant wireless charging, and radio frequency energy harvesting wireless charging. Among them, magnetic coupling resonant charging is considered to be one of the most promising technologies due to its high transmission efficiency and long transmission distance. Existing magnetic coupling resonant wireless charging solutions mainly rely on magnetic coupling mechanisms. Usually, these magnetic coupling mechanisms are fixed designs "tailor-made" for a certain type of drone, and can only adapt to drones of specific sizes and parameters, and are not compatible with drones of different sizes. This limitation significantly limits the versatility and flexibility of charging equipment. Therefore, there is an urgent need in the market for a magnetic coupling mechanism that can adapt to drones of different models and sizes to achieve wireless charging of multiple models of drones. Summary of the invention

[0005] The present invention aims to solve the problem that existing drone charging equipment cannot adapt to the magnetic coupling mechanisms of drones of different models and sizes, and further proposes a drone wireless charging magnetic coupling mechanism with strong structural adaptability.

[0006] The technical solution adopted by the present invention to solve the above problems is: the present invention comprises an A1 transmitting coil, a B1 transmitting coil, an A2 transmitting coil, a B2 transmitting coil, a transmitting end nanocrystalline magnetic core, an α1 receiving coil, an α2 receiving coil, a β receiving coil and a receiving end nanocrystalline magnetic core;

[0007] The A1 transmitting coil, the B1 transmitting coil, the A2 transmitting coil, and the B2 transmitting coil are arranged in a rectangular array to form a square transmitting coil. The A1 transmitting coil and the A2 transmitting coil are arranged diagonally, and the B1 transmitting coil and the B2 transmitting coil are arranged diagonally. The transmitting end nanocrystalline magnetic core is arranged under the transmitting coil.

[0008] The α1 receiving coil, α2 receiving coil, and β receiving coil are wound in layers on the landing gear of the UAV, and the receiving end nanocrystalline magnetic core is installed between the landing gear and the receiving coil.

[0009] Further, the A1 transmitting coil is composed of the A1-1 transmitting coil, the A1-2 transmitting coil and the A1-3 transmitting coil connected in series;

[0010] The B1 transmitting coil is composed of the B1-1 transmitting coil, the B1-2 transmitting coil and the B1-3 transmitting coil in series;

[0011] The A2 transmitting coil is composed of the A2-1 transmitting coil, the A2-2 transmitting coil and the A2-3 transmitting coil in series;

[0012] The B2 transmitting coil is composed of the B2-1 transmitting coil, the B2-2 transmitting coil and the B2-3 transmitting coil connected in series.

[0013] Furthermore, the B1-1 transmitting coil, the B1-2 transmitting coil and the B1-3 transmitting coil are all square coils;

[0014] The B1-1 transmitting coil, the B1-2 transmitting coil and the B1-3 transmitting coil are all square coils;

[0015] The A2-1 transmitting coil, the A2-2 transmitting coil and the A2-3 transmitting coil are all square coils;

[0016] The B2-1 transmitting coil, the B2-2 transmitting coil and the B2-3 transmitting coil are all square coils.

[0017] Furthermore, the A1 transmitting coil is wound clockwise, the B1 transmitting coil is wound clockwise, the A2 transmitting coil is wound counterclockwise, and the B2 transmitting coil is wound counterclockwise.

[0018] Further, the receiving coil is composed of an α1 receiving coil, an α2 receiving coil and a β receiving coil;

[0019] The β receiving coil is a solenoid coil, which is coaxially mounted on the nanocrystalline magnetic core. The α1 receiving coil and the α2 receiving coil are symmetrically buckled on the β receiving coil.

[0020] Furthermore, the α1 receiving coil is a rectangular coil with a concave lower surface, and the α2 receiving coil is a rectangular coil with a concave upper surface.

[0021] The beneficial effects of the present invention are as follows: the present invention can realize compatible wireless charging for drones of various landing gear types, thereby solving the poor adaptability problem existing in the prior art, and playing an important role in promoting the development and improvement of drone wireless charging technology. The receiving coil in the present invention is common and miniaturized, which will not affect the flight of the drone and has extremely small load on the drone. The present invention also has a certain ability to resist the landing deviation of the drone. After the drone lands out of position, the wireless charging system can still output a certain power. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the coil excitation condition of the transmitting coil;

[0024] Figure 3 It is a schematic diagram of the magnetic flux distribution of the transmitting coil;

[0025] Figure 4 It is a schematic diagram of the current induction of the receiving coil;

[0026] Figure 5 It is a schematic diagram of the magnetic flux distribution of the receiving coil;

[0027] Figure 6 It is a schematic diagram of the circuit topology of the receiving coil α and β series system;

[0028] Figure 7 This is a schematic diagram of the circuit topology of the receiving coil α and β parallel system;

[0029] Figure 8 This is a schematic diagram of wireless charging for drones with different landing gears. DETAILED DESCRIPTION

[0030] Specific implementation method 1: Figures 1 to 8 As shown, a magnetic coupling mechanism for wireless charging of unmanned aerial vehicles with strong structural adaptability includes an A1 transmitting coil 1, a B1 transmitting coil 2, an A2 transmitting coil 3, a B2 transmitting coil 4, a receiving end nanocrystalline magnetic core 5 and a transmitting end nanocrystalline magnetic core 6;

[0031] A1 transmitting coil 1, B1 transmitting coil 2, A2 transmitting coil 3, and B2 transmitting coil 4 are arranged in a rectangular array to form a square transmitting coil, A1 transmitting coil 1 and A2 transmitting coil 3 are arranged diagonally, and B1 transmitting coil 2 and B2 transmitting coil 4 are arranged diagonally;

[0032] The receiving end nanocrystalline magnetic core 5 is installed on the landing gear of the UAV, and the transmitting end nanocrystalline magnetic core 6 is installed on the transmitting coil.

[0033] Among them, the A1 transmitting coil, A2 transmitting coil, B1 transmitting coil, and B2 transmitting coil are adjacent to each other to form a square, and a transmitting end nanocrystalline magnetic core is laid underneath to enhance coupling and reduce leakage magnetic field. The shape and area of ​​the transmitting end nanocrystalline magnetic core are not fixed and can be designed according to actual conditions; the β receiving coil is wound on the landing gear of the UAV, and the symmetrical curved surface α1 receiving coil and α2 receiving coil are wound on the outside of the β receiving coil. The receiving end nanocrystalline magnetic core is attached to the landing gear on the inside of the β receiving coil to enhance coupling and improve self-mutual inductance.

[0034] like Figure 3 As shown, the cross and dot indicate the direction of the vertical magnetic flux. Since the diagonal coils are connected in reverse series, four excitation sources with different phases can be realized with only two independent excitation sources. The excitation phase difference between any two adjacent coils is 90°. Under the combined effect of the symmetrical magnetic structure and symmetrical excitation, the synthetic dynamic rotating horizontal magnetic flux vector Φ AB Rotate in clockwise direction. When the receiving coil is at any angle, it can obtain the energy of the transmitting magnetic field;

[0035] At this moment, the A1 transmitting coil generates a vertical upward magnetic flux Φ A1 , A2 transmitting coil generates vertical downward magnetic flux Φ A2 , B1 transmitting coil generates vertical upward magnetic flux Φ B1 , B2 transmitting coil generates vertical downward magnetic flux Φ B2 , so there is a horizontal magnetic flux Φ adjacent to the A1 transmitting coil and the B2 transmitting coil. A1B2 , there is a horizontal magnetic flux Φ adjacent to the B1 transmitting coil and the A2 transmitting coil A2B1 ;

[0036] Since the outer dimensions, number of coil turns and input current amplitude of the transmitting coils of group A and group B are consistent, the superposition of the two opposite magnetic fluxes is zero, and the superposition effect of the transmitting coils of group A on the transmitting coils of group B is zero, thus realizing the decoupling design of the transmitting coils; the transmitting coils of group A are composed of A1 transmitting coil 1 and A2 transmitting coil 3, and the transmitting coils of group B are composed of B1 transmitting coil 2 and B2 transmitting coil 3.

[0037] Specific implementation method 2: Figures 1 to 8 As shown, the A1 transmitting coil 1 is composed of an A1-1 transmitting coil 101, an A1-2 transmitting coil 102 and an A1-3 transmitting coil 103 connected in series;

[0038] B1 transmitting coil 2 is composed of B1-1 transmitting coil 201, B1-2 transmitting coil 202 and B1-3 transmitting coil 203 connected in series;

[0039] A2 transmitting coil 3 is composed of A2-1 transmitting coil 301, A2-2 transmitting coil 302 and A2-3 transmitting coil 303 connected in series;

[0040] The B2 transmitting coil 4 is composed of a B2-1 transmitting coil 401, a B2-2 transmitting coil 402 and a B2-3 transmitting coil 403 connected in series.

[0041] With such an arrangement, a near-field magnetic field with uniform intensity can be generated, and the number of transmitting coils can be increased to expand the area of ​​the uniform magnetic field.

[0042] The two sets of transmitting coils are excited independently. The two sets of excitation currents have a phase difference of 90° and equal amplitude. The coil excitation conditions of the transmitting coil are as follows: Figure 2 shown.

[0043] Specific implementation method three: Figures 1 to 8 As shown, the B1-1 transmitting coil 201, the B1-2 transmitting coil 202 and the B1-3 transmitting coil 203 are all square coils;

[0044] The B1-1 transmitting coil 201, the B1-2 transmitting coil 202 and the B1-3 transmitting coil 203 are all square coils;

[0045] The A2-1 transmitting coil 301, the A2-2 transmitting coil 302 and the A2-3 transmitting coil 303 are all square coils;

[0046] The B2-1 transmitting coil 401, the B2-2 transmitting coil 402 and the B2-3 transmitting coil 403 are all square coils.

[0047] Specific implementation method four: Figures 1 to 8 As shown, the A1 transmitting coil 1 is wound clockwise, the B1 transmitting coil 2 is wound clockwise, the A2 transmitting coil 3 is wound counterclockwise, and the B2 transmitting coil 4 is wound counterclockwise.

[0048] Specific implementation method five: Figures 1 to 8 As shown, the receiving end nanocrystalline magnetic core 5 is composed of an α1 receiving coil 501, an α2 receiving coil 502, a β receiving coil 503 and a nanocrystalline magnetic core 504;

[0049] The β receiving coil 503 is coaxially mounted on the nanocrystalline magnetic core 504 , and the α1 receiving coil 501 and the α2 receiving coil 502 are symmetrically mounted on the β receiving coil 503 .

[0050] The α1 receiving coil 501 and the α2 receiving coil 502 are wound in the same direction (either clockwise or counterclockwise) and connected in series in the forward direction; the β receiving coil 503 can be wound in either clockwise or counterclockwise direction; the α1 receiving coil 501 and the α2 receiving coil 502 can be regarded as rectangular coils bent along the cylindrical landing gear, with an arc of 180 degrees, symmetrically installed, and can form a circle. The current induction conditions and details of the receiving coils are as follows: Figure 4 shown.

[0051] Specific implementation method six: Figures 1 to 8 As shown, the α1 receiving coil 501 is a rectangular coil with a concave lower surface, and the α2 receiving coil 502 is a rectangular coil with a concave upper surface.

[0052] like Figure 5 As shown, the α1 receiving coil 501 and the α2 receiving coil 502 can receive the horizontal magnetic fluxes Φα1 and Φα2, and the β receiving coil 503 can receive the vertical magnetic flux Φβ;

[0053] The α1 receiving coil 501 and the α2 receiving coil 502 can receive vertical magnetic fluxes Φα1 and Φα2, and the β receiving coil 503 can receive horizontal magnetic flux Φβ. At any time, the directions of the received magnetic fluxes Φα1, Φα2 and Φβ are orthogonal to each other, that is, no mutual interference will occur, thus realizing the decoupling design of the receiving coils.

[0054] like Figure 6 and 7 As shown in the figure, the compensation topology network adopts a bilateral LCC structure with constant voltage input and constant current output. The primary side adopts a dual inverter half-bridge cascade topology, and the secondary side adopts an uncontrolled full-bridge rectifier topology. in is the input DC voltage of the system, M1~M4 are SiCMOSFET transistors forming an inverter circuit, L fp is the self-inductance of the primary compensation inductor coil, L fs The secondary side compensation inductor coil self-inductance, C fp , C p , C fs , C s is the original secondary side resonant capacitor, R o is the equivalent load of the drone battery; L pA is the total self-inductance of the transmitting coil of group A, L pB is the total self-inductance of the transmitting coil of group B, L sα is the total self-inductance of the receiving coil α, L sβ is the self-inductance of the receiving coil β, M represents the mutual inductance between the transmitting coil and the receiving coil;

[0055] When the α1 receiving coil 501, the α2 receiving coil 502 and the β receiving coil 503 are connected in series, Figure 6 The topology shares a full-bridge rectifier circuit, which is conducive to module expansion but has high device stress;

[0056] When the α1 receiving coil 501, α1 receiving coil 502 and β receiving coil 503 are connected in parallel for output, Figure 7 The topology is adopted, and a full-bridge rectifier circuit is connected respectively, and they are connected in parallel after the output of the rectifier circuit. This balances the stress of the devices and facilitates the design.

[0057] Example

[0058] like Figure 8 As shown, the transmitting coil uses Litz wire with a wire diameter of 2.85mm, the outer diameter of the A1-1 transmitting coil is 200mm, and the number of turns is 5 turns; the outer diameter of the A1-2 transmitting coil is 170mm, and the number of turns is 2 turns; the outer diameter of the A1-3 transmitting coil is 150mm, and the number of turns is 2 turns; the sizes of the A2-1 transmitting coil, A2-2 transmitting coil, A2-3 transmitting coil, B1-1 transmitting coil, B1-2 transmitting coil, B1-3 transmitting coil, B2-1 transmitting coil, B2-2 transmitting coil, and B2-3 transmitting coil are the same as those of the A1 transmitting coil; the thickness of the nanocrystalline magnetic core at the transmitting end is 2mm, the outer diameter is 300*300mm, and the magnetic permeability is 1000; the transmitting coil and the magnetic core together form a square transmitting end;

[0059] The receiving coil uses Litz wire with a wire diameter of 2mm. The dimensions of the α1 receiving coil 501 and the α1 receiving coil 502 are 17mm*80mm, with 10 turns. The outer diameter of the β receiving coil 503 is 15mm, the number of turns is 20, and the length is 90mm. The thickness of the nanocrystalline magnetic core at the receiving end is 1.2mm, the outer diameter is 13mm, the length is 100mm, and the magnetic permeability is 1000. The receiving coil and the magnetic core together form a hollow tubular receiving end.

[0060] like Figure 8 As shown in (a), when adapted to a U-shaped landing gear, the receiving end can be installed in the middle of the horizontal axis of the landing gear. At this time, the A1 transmitting coil 1, the A2 transmitting coil 3, the B1 transmitting coil 2, and the B2 transmitting coil 4 provide horizontal magnetic flux for the α1 receiving coil 501 and the α2 receiving coil 502, and the A1 transmitting coil and the B1 transmitting coil provide horizontal magnetic flux for the β receiving coil 503. The input voltage is 100V and the output power is 200W.

[0061] like Figure 8 As shown in (b), when adapted to type I landing gear, the receiving end can be installed at the end below the vertical axis of the landing gear. At this time, the A2 transmitting coil 3 and the B2 transmitting coil 4 provide horizontal magnetic flux for the α1 receiving coil 501 and the α2 receiving coil 502, and the B2 transmitting coil 4 provides vertical magnetic flux for the β receiving coil 503. The input voltage is 140V and the output power is 500W.

[0062] like Figure 8 As shown in (c), when adapted to a T-type landing gear, the receiving end can be installed at the left / right end of the horizontal axis of the landing gear. At this time, the A2 transmitting coil 3 provides vertical magnetic flux for the α1 receiving coil 501 and the α2 receiving coil 502, and the A2 transmitting coil 3 and the B1 transmitting coil 2 provide horizontal magnetic flux for the β receiving coil 503. The input voltage is 180V and the output power is 800W.

[0063] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A magnetic coupling mechanism for wireless charging of unmanned aerial vehicles with strong structural adaptability, characterized in that: It comprises an A1 transmitting coil (1), a B1 transmitting coil (2), an A2 transmitting coil (3), a B2 transmitting coil (4), a receiving end nanocrystalline magnetic core (5) and a transmitting end nanocrystalline magnetic core (6); The A1 transmitting coil (1), the B1 transmitting coil (2), the A2 transmitting coil (3), and the B2 transmitting coil (4) are arranged in a rectangular array to form a square transmitting coil, the A1 transmitting coil (1) and the A2 transmitting coil (3) are arranged diagonally, and the B1 transmitting coil (2) and the B2 transmitting coil (4) are arranged diagonally; the transmitting end nanocrystalline magnetic core (6) is mounted on the transmitting coil; The receiving coil (5) is installed on the landing gear of the UAV, and the receiving end nanocrystalline magnetic core is installed between the landing gear and the receiving coil.

2. According to the strong structural adaptability UAV wireless charging magnetic coupling mechanism of claim 1, it is characterized in that: The A1 transmitting coil (1) is composed of an A1-1 transmitting coil (101), an A1-2 transmitting coil (102) and an A1-3 transmitting coil (103) connected in series; The B1 transmitting coil (2) is composed of a B1-1 transmitting coil (201), a B1-2 transmitting coil (202) and a B1-3 transmitting coil (203) connected in series; The A2 transmitting coil (3) is composed of an A2-1 transmitting coil (301), an A2-2 transmitting coil (302) and an A2-3 transmitting coil (303) connected in series; The B2 transmitting coil (4) is composed of a B2-1 transmitting coil (401), a B2-2 transmitting coil (402) and a B2-3 transmitting coil (403) connected in series.

3. The magnetic coupling mechanism for wireless charging of unmanned aerial vehicles with strong structural adaptability according to claim 2 is characterized in that: The B1-1 transmitting coil (201), the B1-2 transmitting coil (202) and the B1-3 transmitting coil (203) are all square coils; The B1-1 transmitting coil (201), the B1-2 transmitting coil (202) and the B1-3 transmitting coil (203) are all square coils; The A2-1 transmitting coil (301), the A2-2 transmitting coil (302) and the A2-3 transmitting coil (303) are all square coils; The B2-1 transmitting coil (401), the B2-2 transmitting coil (402) and the B2-3 transmitting coil (403) are all square coils.

4. The magnetic coupling mechanism for wireless charging of unmanned aerial vehicles with strong structural adaptability according to claim 1 is characterized in that: The A1 transmitting coil (1) is wound clockwise, the B1 transmitting coil (2) is wound clockwise, the A2 transmitting coil (3) is wound counterclockwise, and the B2 transmitting coil (4) is wound counterclockwise.

5. The magnetic coupling mechanism for wireless charging of unmanned aerial vehicles with strong structural adaptability according to claim 1 is characterized in that: The receiving coil (5) is composed of an α1 receiving coil (501), an α2 receiving coil (502), a β receiving coil (503) and a nanocrystalline magnetic core (504); The β receiving coil (503) is coaxially sleeved on the nanocrystalline magnetic core (504), and the α1 receiving coil (501) and the α2 receiving coil (502) are symmetrically buckled on the β receiving coil (503).

6. The magnetic coupling mechanism for wireless charging of unmanned aerial vehicles with strong structural adaptability according to claim 5 is characterized in that: The α1 receiving coil (501) is a rectangular coil with a concave bottom surface, and the α2 receiving coil (502) is a rectangular coil with a concave top surface.

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