Unmanned aerial vehicle charging system control circuit and unmanned aerial vehicle charging nest system

Abstract

The invention relates to the technical field of unmanned aerial vehicle intelligent airport platforms, in particular to an unmanned aerial vehicle charging system control circuit and an unmanned aerial vehicle charging nest system. The unmanned aerial vehicle charging system control circuit comprises an adapter cut-off circuit, and the adapter cut-off circuit comprises an optical coupling isolator, a relay and a rectifier diode. The input end of the optocoupler isolator is connected to the single-chip microcomputer, the output end is connected to the base electrode of the triode, the emitter electrode of the triode is grounded, the collector electrode of the triode is connected to one end of the relay coil, the other end of the relay coil is connected to the first power supply, and the contact of the relay is used for controlling the on-off of the second power supply; wherein the optical coupling isolator is used for isolating a control signal of the single-chip microcomputer and then transmitting the control signal to the triode, the triode is used for controlling on-off of a coil of the relay, and the relay is used for controlling on-off of the second power supply. According to the invention, the safety of the system is improved, the standby power consumption of the adapter is reduced, and the service life of the adapter is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) intelligent airport platforms, and particularly to a control circuit for a UAV charging system and a UAV charging nest system. Background Art

[0002] With the rapid development of UAV technology, UAVs are increasingly widely used in fields such as power line inspection. When performing inspection tasks, UAVs need to fly for a long time, and during non-task periods, UAVs need to perform data exchange and charging / discharging operations. Traditional UAV charging methods usually rely on wired charging, and with the progress of technology, wireless charging modes are gradually applied to UAV charging nest systems.

[0003] However, in existing UAV charging nest systems, the adapter still outputs 220VAC voltage after the UAV charging is completed, resulting in the internal components of the adapter being in an energized state for a long time. Components such as electrolytic capacitors age rapidly due to continuous leakage current, and the relay contacts are prone to generating an oxide layer due to long-term electrification, resulting in an increase in contact resistance or even failure. The standby power consumption accumulates continuously, causing energy waste. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the purpose of the embodiments of the present invention is to provide a control circuit for a UAV charging system.

[0005] To achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

[0006] A control circuit for a UAV charging system includes an adapter cut-off circuit, and the adapter cut-off circuit includes an optocoupler isolator, a relay, and a rectifier diode; the input end of the optocoupler isolator is connected to a single-chip microcomputer, the output end is connected to the base of a triode, the emitter of the triode is grounded, the collector of the triode is connected to one end of the relay coil, the other end of the relay coil is connected to a first power supply, and the contacts of the relay are used to control the on / off of a second power supply; wherein, the optocoupler isolator is used to isolate and transfer the control signal of the single-chip microcomputer to the triode, the triode is used to control the on / off of the relay coil, and the relay is used to control the on / off of the second power supply.

[0007] Optionally, the adapter cut-off circuit further includes a rectifier diode, the anode of the rectifier diode is connected to one end of the relay coil, and the cathode is grounded. The rectifier diode is used to absorb the reverse electromotive force generated when the relay coil is de-energized.

[0008] Optionally, a first resistor is provided between the input end of the optocoupler isolator and the ground, a second resistor is provided between the output end of the optocoupler isolator and the base of the triode; a third resistor is provided between the base of the triode and the ground.

[0009] Optionally, it further includes a battery voltage acquisition circuit, and the battery voltage acquisition circuit includes a bridge circuit, a voltage division circuit, a differential amplifier, and an analog-to-digital converter;

[0010] The input terminals of the bridge circuit are connected to the positive and negative electrodes of the battery to be measured, and the output terminal of the bridge circuit is connected to the input terminal of the voltage division circuit; the output terminal of the voltage division circuit is connected to the input terminal of the differential amplifier, and the output terminal of the differential amplifier is connected to the input terminal of the analog-to-digital converter; the bridge circuit is used to collect the battery voltage regardless of whether the battery voltage is connected in the forward or reverse direction; the voltage division circuit is used to perform voltage division processing on the collected voltage signal; the differential amplifier is used to amplify the voltage signal after voltage division; the analog-to-digital converter is used to convert the amplified voltage signal into a digital signal.

[0011] Optionally, the voltage division circuit includes a first resistor and a second resistor. One end of the first resistor is connected to the output terminal of the bridge circuit, the other end is connected to one end of the second resistor, and the other end of the second resistor is connected to the input terminal of the differential amplifier. The resistance ratio of the first resistor and the second resistor is used to divide the collected voltage signal to within the operating voltage range of the differential amplifier;

[0012] The power supply pin of the differential amplifier is connected to the power supply voltage, the reference pin of the differential amplifier is connected to the ground, and the gain setting resistor of the differential amplifier is used to adjust the amplification factor.

[0013] Optionally, it further includes a current acquisition circuit. The current acquisition circuit includes a current sensor and an RC filter circuit. The current sensor is connected in series to the charging circuit to detect the charging current in real time. The RC filter circuit is connected between the output terminal of the current sensor and the single-chip microcomputer port to filter out high-frequency noise. The differential signal output interface converts the filtered current signal into a single-ended signal through a differential amplifier and inputs it to the port of the single-chip microcomputer.

[0014] Optionally, it further includes an adapter charging on / off circuit. The adapter charging on / off circuit includes an optocoupler isolation unit, a driving triode, a relay, and a freewheeling diode. The input terminal of the optocoupler isolation unit is connected to the control signal input terminal, and the output terminal is connected to the base of the driving triode to achieve electrical isolation between the control signal and the high-voltage circuit;

[0015] The collector of the driving triode is connected to the positive power supply through the relay coil, the emitter is grounded, and the base of the triode is connected to the output terminal of the optocoupler isolation unit to drive the on / off of the relay coil according to the optocoupler signal;

[0016] The normally open contact of the relay is connected in series in the adapter charging circuit, and the on / off of the relay coil is controlled by the driving triode to realize the conduction or cut-off of the charging circuit;

[0017] The freewheeling diode is connected in parallel across the relay coil and is used to absorb the back electromotive force generated when the relay is disconnected.

[0018] Optionally, the positive electrode of the light-emitting diode on the input side of the optocoupler isolation unit is connected to the control signal input terminal through a resistor, and the negative electrode is grounded; the base of the driving triode is connected to the collector on the output side of the optocoupler through a resistor, the emitter is directly grounded, and the collector is grounded through a resistor.

[0019] Optionally, it further includes a centralized control module. The battery voltage acquisition circuit acquires the voltage signal, amplifies it through a differential amplifier, and then transmits it to the centralized control module. The current acquisition circuit acquires the charging current signal and transmits it to the centralized control module after preventing external interference through a shielding circuit; the centralized control module is connected to the battery voltage acquisition circuit, the adapter cut-off circuit, the current acquisition circuit, and the adapter charging on / off circuit, and is used to receive the signals transmitted by the battery voltage acquisition circuit and the current acquisition circuit, and control the adapter cut-off circuit and the adapter charging on / off circuit.

[0020] An embodiment of the present invention further provides a drone charging hangar system, including: a task execution module, a power supply system, and the drone charging system control circuit as described above;

[0021] The task execution module is used to store and place the drone, realize the automatic release and recovery of the drone, automatically charge the drone battery, and realize telemetry communication with the drone; the power supply system uses a photovoltaic power generation system to provide power, including solar photovoltaic panels, a battery pack, a charge and discharge controller, and an inverter.

[0022] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0023] 1. The adapter cut-off circuit realizes the electrical isolation of the control signal through the optocoupler isolation circuit, improving the safety of the system. The combination of the triode drive circuit and the relay ensures the stable on / off control of the 220VAC power supply. When there is no drone charging, the 220VAC power supply of the adapter is cut off, reducing the standby power consumption of the adapter and extending the service life of the adapter. The contact design of the relay ensures the reliable cut-off of the power supply, preventing equipment damage and safety hazards caused by the long-term connection of the power supply.

[0024] 2. In this battery voltage acquisition circuit, through the combination of a diode bridge circuit, voltage-dividing resistors, and a differential amplifier, high-precision acquisition of the battery voltage is achieved, ensuring the accuracy and stability of the voltage signal. The design of the diode bridge circuit enables the circuit to adapt to the forward and reverse connection of the battery, avoiding circuit damage and measurement errors caused by reverse battery connection. The differential amplifier not only amplifies the signal but also has a certain filtering function, improving the signal-to-noise ratio of the signal and ensuring the accuracy of subsequent analog-to-digital conversion. The analog signal is converted into a digital signal through the analog-to-digital conversion interface, facilitating digital processing and analysis by the centralized control module and improving the intelligence level of the system.

[0025] 3. In this current acquisition circuit, a current transformer is used to accurately detect a charging current of up to 50 A, ensuring the accuracy of the current signal. The metal shell shielding circuit effectively reduces external electromagnetic interference and improves the stability of the current signal. Through the analog-to-digital conversion interface, the current signal can be transmitted to the centralized control module in real time to achieve real-time monitoring of the charging current. The accurate current detection and real-time monitoring functions help to promptly detect abnormal situations during the charging process and improve the safety of the charging system.

[0026] 4. In this adapter charging on-off circuit, through the optocoupler isolation circuit, electrical isolation of the control signal is achieved, improving the safety of the system. The combination of the triode drive circuit and the relay ensures stable on-off control of the charging adapter power supply. The control signal output by the single-chip microcomputer can accurately control the on-off of the charging adapter, ensuring precise management of the charging process. The contact design of the relay ensures reliable cutting off of the charging adapter power supply, preventing equipment damage and safety hazards caused by long-term power-on.

[0027] 5. This drone charging hangar system is designed with multiple cabin modules, allowing multiple drones to be charged simultaneously without queuing, reducing the risk of falling, and greatly improving the inspection efficiency of drones. The centralized control module can perform centralized task processing and distribution for system scheduling, and reasonably arrange the charging plan according to the usage frequency and charging requirements of the drones, thereby reducing the idle time. The power supply system uses solar energy to provide power, is not restricted by power line regions, and is convenient to deploy.

[0028] Advantages of additional aspects of the present invention will be given in the following description, some of which will become obvious from the following description, or can be understood through the practice of the present invention. Description of the Drawings

[0029] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. In addition, the distances or sizes between components are exaggerated for showing the positions of each component, and the schematic diagrams are for illustrative purposes only.

[0030] Figure 1 is the 220VAC circuit cut-off adapter of the present invention;

[0031] Figure 2 is the battery voltage acquisition circuit of the UAV of the present invention;

[0032] Figure 3 is the current acquisition circuit of the present invention;

[0033] Figure 4 is the charging on-off circuit of the adapter in the present invention;

[0034] Figure 5 is the overall structure diagram of the solar multi-camera UAV charging hangar system in the embodiment of the present invention;

[0035] Figure 6 is the structure diagram of the task execution module in the embodiment of the present invention;

[0036] Figure 7 is the structure diagram of the power supply system in the embodiment of the present invention;

[0037] Figure 8 is the UAV landing flow chart in the present invention;

[0038] Figure 9 is the overall charging flow chart in the present invention;

[0039] Figure 10 is the flow chart of the automatic mode subroutine in the present invention. Detailed implementation manners

[0040] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0041] Embodiment 1

[0042] As Figure 1The adapter cut-off circuit shown mainly includes: a single-chip microcomputer control interface, an optocoupler isolation circuit, a triode drive circuit, a relay, and a power supply interface. The single-chip microcomputer control interface is used to output control signals to control the on / off of the 220VAC power supply of the adapter. The optocoupler isolation circuit consists of an optocoupler U11 and is used to isolate control signals to ensure the stable transmission of control signals. The triode drive circuit consists of a triode Q2 (SS8050) and is used to drive the relay. The relay consists of a relay U4 (HF193F / 12-2HT) and is used to control the on / off of the 220VAC power supply. The power supply interface consists of power supply interfaces CON1 and CON2 and is used to connect the 220VAC power supply.

[0043] Single-chip microcomputer control interface The single-chip microcomputer outputs high and low level control signals through the OPEN_220V control port. Optocoupler isolation circuit The input end of the optocoupler U11 is connected to the OPEN_220V control port of the single-chip microcomputer, and the output end is connected to the base of the triode Q2. Triode drive circuit The collector of the triode Q2 is connected to one end of the coil of the relay U4, and the emitter is connected to the power supply ground. The other end of the coil of the relay U4 is connected to the positive power supply, and the contacts of the relay are connected to the power supply interfaces CON1 and CON2. Power supply interfaces CON1 and CON2 are respectively connected to the live wire and the neutral wire of the 220VAC power supply.

[0044] The single-chip microcomputer outputs high and low level control signals through the OPEN_220V control port to control the on / off of the 220VAC power supply of the adapter. When the single-chip microcomputer outputs a high level, the optocoupler U11 conducts, isolating and transmitting the control signal to the base of the triode Q2. After receiving the high level signal at the base, the triode Q2 conducts, driving the coil of the relay U4 to be energized. After the coil of the relay U4 is energized, the contacts of the relay close, connecting the 220VAC power supply. When the single-chip microcomputer outputs a low level, the optocoupler U11 cuts off, the triode Q2 cuts off, the coil of the relay U4 is de-energized, and the contacts of the relay open, cutting off the 220VAC power supply.

[0045] Through the optocoupler isolation circuit, the adapter cut-off circuit achieves electrical isolation of control signals and improves the safety of the system. The combination of the triode drive circuit and the relay ensures the stable on / off control of the 220VAC power supply. When the drone is not charging, the 220VAC power supply of the adapter is cut off, reducing the standby power consumption of the adapter and extending the service life of the adapter. The contact design of the relay ensures reliable power cut-off, preventing equipment damage and safety hazards caused by long-term power connection.

[0046] Figure 2The battery voltage acquisition circuit shown includes a diode bridge circuit, voltage-dividing resistors, a differential amplifier, and an analog-to-digital conversion interface. The diode bridge circuit consists of diodes D5, D6, D7, and D8, and is used to acquire the battery voltage regardless of whether the battery voltage is connected in the correct or reverse direction. The voltage-dividing resistors consist of resistors R6 and R9, and are used to divide the acquired voltage signal. The differential amplifier uses INA597 and is used to amplify the divided signal. The analog-to-digital conversion interface performs analog-to-digital conversion through the single-chip microcomputer ADC1_IN4, and converts the amplified signal into a digital signal.

[0047] The diode bridge circuit: Diodes D5, D6, D7, and D8 form a bridge circuit, and the battery voltage is rectified through this bridge circuit to ensure that the correct voltage signal can be output regardless of whether the battery is connected in the correct or reverse direction. The voltage-dividing resistors: The rectified voltage signal is divided by resistors R6 and R9 to adjust the voltage signal to a range suitable for the input of the differential amplifier. The differential amplifier: The divided signal is input into the differential amplifier INA597, and the amplifier outputs the signal after amplification. The analog-to-digital conversion interface: The amplified signal is subjected to analog-to-digital conversion through the single-chip microcomputer ADC1_IN4, and the converted digital signal is transmitted to the centralized control module for processing.

[0048] Voltage acquisition: The battery voltage is rectified through the diode bridge circuit to ensure that the correct voltage signal can be output regardless of whether the battery is connected in the correct or reverse direction. Voltage division processing: The rectified voltage signal is divided by resistors R6 and R9 to adjust the voltage signal to a range suitable for the input of the differential amplifier. Signal amplification: The divided signal is input into the differential amplifier INA597, and the amplifier amplifies the signal to improve the signal-to-noise ratio of the signal. Analog-to-digital conversion: The amplified signal is subjected to analog-to-digital conversion through the single-chip microcomputer ADC1_IN4, and the converted digital signal is transmitted to the centralized control module for processing and analysis.

[0049] As Figure 3 The current acquisition circuit shown includes a current transformer, a shielding circuit, a signal input / output interface, and an analog-to-digital conversion interface. The model of the current transformer is SCT100UF-PFF, and it is used to detect the charging current, with a maximum detection current of 50A. The shielding circuit uses a metal shell for shielding to prevent external interference. The signal input / output interface includes the IP+ pin for current inflow and the IP- pin for current outflow. The analog-to-digital conversion interface acquires the current signal through the single-chip microcomputer ADC2_IN5.

[0050] The charging current of the current transformer flows in through the IP+ pin of the current transformer and flows out from the IP- pin after being detected by the transformer. The shielded circuit of the current transformer is shielded by a metal case to reduce the influence of external electromagnetic interference on the current signal. The signal input / output interface, the IP+ and IP- pins, are respectively connected to the input and output ends of the current transformer to ensure the accurate transmission of the current signal. The analog-to-digital conversion interface: The current signal is subjected to analog-to-digital conversion through the ADC2_IN5 interface of the single-chip microcomputer, and the converted digital signal is transmitted to the centralized control module.

[0051] Current detection: When the charging current passes through the current transformer, the transformer detects the current signal according to the principle of electromagnetic induction. Signal shielding: The metal case shielded circuit reduces external electromagnetic interference to ensure the accuracy of the current signal. Signal transmission: The detected current signal is transmitted to the ADC2_IN5 interface of the single-chip microcomputer through the IP+ and IP- pins. Analog-to-digital conversion: The single-chip microcomputer performs analog-to-digital conversion on the received analog current signal, and the converted digital signal is transmitted to the centralized control module for processing and analysis.

[0052] The SCT100UF-PFF current transformer is adopted in this current acquisition circuit, which can accurately detect the charging current up to 50A to ensure the accuracy of the current signal. The metal case shielded circuit effectively reduces external electromagnetic interference and improves the stability of the current signal. Through the analog-to-digital conversion interface, the current signal can be transmitted to the centralized control module in real time to realize the real-time monitoring of the charging current. The accurate current detection and real-time monitoring functions help to timely detect abnormal situations during the charging process and improve the safety of the charging system.

[0053] As Figure 4 shown, the adapter charging on / off circuit includes a single-chip microcomputer control interface, an optocoupler isolation circuit, a triode drive circuit, a relay, and a charging adapter interface. The single-chip microcomputer control interface is used to output control signals to control the on / off of the charging adapter. The optocoupler isolation circuit consists of an optocoupler U5 and is used to isolate the control signal to ensure the stable transmission of the control signal. The triode drive circuit consists of a triode Q1 (SS8050) and is used to drive the relay. The relay consists of a relay U7 (HF165F-50 / 12) and is used to control the on / off of the charging adapter. The charging adapter interface is used to connect the charging adapter to control its power on / off.

[0054] The single-chip microcomputer control interface. The single-chip microcomputer outputs high and low level control signals through the OPEN_CHARGE control port. Optocoupler isolation circuit. The input end of the optocoupler U5 is connected to the OPEN_CHARGE control port of the single-chip microcomputer, and the output end is connected to the base of the triode Q1. Triode drive circuit. The collector of the triode Q1 is connected to one end of the coil of the relay U7, and the emitter is connected to the power ground. The other end of the coil of the relay U7 is connected to the positive power supply, and the contacts of the relay are connected to the charging adapter interface. Charging adapter interface. The charging adapter interface is used to connect the charging adapter and control the on / off of its power supply.

[0055] Control signal output. The single-chip microcomputer outputs high and low level control signals through the OPEN_CHARGE control port to control the on / off of the charging adapter. Optocoupler isolation. When the single-chip microcomputer outputs a high level, the optocoupler U5 conducts, and the control signal is isolated and transmitted to the base of the triode Q1. Triode drive. After receiving the high level signal at the base, the triode Q1 conducts, driving the coil of the relay U7 to be energized. Relay action. After the coil of the relay U7 is energized, the contacts of the relay close, connecting the power supply of the charging adapter. Power on / off. When the single-chip microcomputer outputs a low level, the optocoupler U5 cuts off, the triode Q1 cuts off, the coil of the relay U7 is de-energized, and the contacts of the relay open, cutting off the power supply of the charging adapter.

[0056] In the charging on / off circuit of this adapter, through the optocoupler isolation circuit, the electrical isolation of the control signal is realized, improving the safety of the system. The combination of the triode drive circuit and the relay ensures the stable on / off control of the power supply of the charging adapter. The control signal output by the single-chip microcomputer can accurately control the on / off of the charging adapter, ensuring the precise management of the charging process. The contact design of the relay ensures the reliable cut-off of the power supply of the charging adapter, preventing equipment damage and safety hazards caused by long-term power connection.

[0057] Embodiment 2

[0058] As Figure 5 shown, this embodiment also provides a drone charging hangar system, including: a task execution module, a power supply system, and the drone charging system control circuit described above; the task execution module is used to store and place drones, realize the automatic release and recovery of drones, automatically charge the drone batteries, and realize telemetry communication with the drones; the power supply system uses a photovoltaic power generation system to provide power, including solar photovoltaic panels, a battery pack, a charge and discharge controller, and an inverter.

[0059] In the drone charging hangar system, the battery voltage acquisition circuit is used to acquire the voltage signal of the drone battery, the current acquisition circuit is used to detect the current signal during the drone charging process, the adapter cut-off circuit is used to control the on / off of the 220VAC power supply of the charging adapter, and the adapter charging on / off circuit is used to control the on / off of the charging adapter.

[0060] The centralized control module is connected to the adapter cut-off circuit, the battery voltage acquisition circuit, the current acquisition circuit, and the adapter charging on / off circuit. The centralized control module receives the signals transmitted by the battery voltage acquisition circuit and the current acquisition circuit, and judges the state and charging progress of the UAV battery according to these signals. When it is detected that the UAV battery has a low power level, the centralized control module controls the power on / off of the charging adapter through the adapter cut-off circuit and the adapter charging on / off circuit to charge the UAV. At the same time, the centralized control module can also reasonably arrange the charging plan according to the usage frequency and charging requirements of the UAV, reduce the idle time, and improve the charging efficiency.

[0061] The centralized control module includes a centralized controller, a touch screen, a communication module, an environment detection module, a centralized temperature control system, etc. The touch screen is connected to the centralized controller, the centralized controller communicates with the task execution module, the centralized controller is connected to the environment detection modules 1-4, and the centralized controller is connected to the temperature control system.

[0062] The centralized control module integrates a centralized scheduling algorithm, enabling it to perform comprehensive scheduling based on multi-dimensional information such as the type of UAV, the urgency of the UAV task, the battery health status, the remaining battery power, and the flight status, adjust the charging priority, and reserve a fast charging channel for high-priority inspection tasks.

[0063] The centralized control module integrates a centralized scheduling algorithm, enabling it to perform comprehensive scheduling based on multi-dimensional information such as the type of UAV, the urgency of the UAV task, the battery health status, the remaining battery power, and the flight status, adjust the charging priority, and reserve a fast charging channel for high-priority inspection tasks.

[0064] The environment detection module can monitor the flight conditions in real time, including parameters such as wind speed, wind direction, rainfall, temperature, humidity, and air pressure, and give early warnings to cope with bad weather in a timely manner to ensure the safety and stability of UAV operations.

[0065] The centralized temperature control system adopts measures such as heat insulation, air cooling, and temperature compensation, is embedded with heat insulation cotton, has heat insulation and anti-freezing properties, and can be superimposed and integrated with an intelligent air conditioning system to ensure the working ability of the system in an environment of -20°C to 50°C.

[0066] The communication module is used to support the real-time data exchange and charging coordination between the centralized controller and the task execution module.

[0067] At Figure 6Among them, the task execution module includes the cabin body and its connected slave controller, distributed temperature control system, UAV controller, cover opening and closing mechanism driver, in-place sensor, charging mechanism driver, visual monitoring system, communication module, etc. The slave controller is connected to the temperature control system, UAV controller, cover opening and closing mechanism driver, in-place sensor, charging mechanism driver, passive compression type charging electrode, visual monitoring system, and communication module. The slave controller communicates with the central controller through the communication module.

[0068] The task execution module is used to store and place the inspection UAV, realize the automatic release and recovery of the UAV, automatically charge the UAV battery, and realize telemetry communication with the UAV. Integrate multiple landing control methods to achieve fully autonomous and stable takeoff and landing of the UAV. It can be compatible with the specifications and charging protocols of 4 UAVs with 2 different battery types, and automatically adjust the charging parameters according to the battery status to achieve compatible charging for 4 UAVs with 2 types.

[0069] The slave controller uses an industrial control computer as the system slave controller, which can adapt to relatively harsh environments and can control the opening and closing of the cover and the extension and retraction of the charging mechanism.

[0070] The distributed temperature control system adopts measures such as heat insulation, air cooling, and temperature compensation, and is embedded with thermal insulation cotton, which is heat-insulating and frost-resistant. The reusable centralized control module integrates an intelligent air-conditioning system to ensure the working ability of the system in the environment of -20°C to 50°C.

[0071] The video monitoring system includes an in-cabin camera, the first perspective of the UAV, etc., which is convenient for multi-directional video recording and fault troubleshooting.

[0072] The cover opening and closing mechanism driver can drive the movement of the cover opening and closing rotating motor. When the in-place sensor signal is detected, the rotating motor stops driving according to this rotation in-place signal, thereby restricting the rotation angle of the rotating shaft rod.

[0073] The passive compression type charging electrode includes two compression units and a base. Each compression unit consists of a cylindrical charging electrode, a housing, a spring, and a bottom plate; the two compression units have the same structure and can be interchanged by simply replacing the charging cable, increasing its maintainability; the charging electrode of the compression unit extends 10 mm from the surface to ensure that the power receiving ends of the four UAVs can be in full contact with the charging electrode. The charging electrode in the compression unit can move up and down along the inner side of the housing. When the UAV is charging, the charging electrode is pressed inward, and under the action of the spring, the contact force between the charging electrode and the power receiving plate can be increased, avoiding virtual connection of the electrodes and improving its reliability.

[0074] The charging mechanism driver can drive two centering rods parallel to the X-axis and Y-axis directions by 2 groups of motors, and the motors are equipped with absolute encoders.

[0075] The charging monitoring system can provide real-time feedback on the battery status and charging progress to ensure the efficient operation of the drone nest system.

[0076] In Figure 7 a solar multi-drone charging drone nest system also includes a power supply system.

[0077] The power supply system uses a photovoltaic power generation system to provide power. The photovoltaic power generation system consists of solar photovoltaic panels, a battery pack, a charge and discharge controller, and an inverter. The solar photovoltaic panels are connected to the charge and discharge controller, the charge and discharge controller is connected to the battery pack, the battery pack is connected to the inverter, the centralized control module, and the task execution modules 1-4 for power supply, and the inverter is connected to the charging adapters 1-4.

[0078] The solar photovoltaic panels, under illumination (whether it is sunlight or the light generated by other luminous bodies), absorb light energy and generate the photovoltaic effect. Under the action of the photovoltaic effect, electromotive forces are generated at both ends of the solar cell, converting light energy into electrical energy.

[0079] The battery pack stores the electrical energy generated by the solar photovoltaic panels under illumination and can provide uninterrupted power to the load at any time, ensuring the uninterrupted operation of these equipment and instruments, preventing computer data loss, communication network interruption, or equipment loss of control. The charging of the drone lithium battery is directly supplied by the charging adapters 1-4, with high-current fast charging, fast and stable.

[0080] The charge and discharge controller can automatically prevent the battery from overcharging and over-discharging.

[0081] The inverter converts direct current into alternating current to supply power to the charging adapter.

[0082] The software structure of this system mainly realizes the initialization of the hardware, continuously detects whether the drone has landed. If so, it executes the corresponding cover opening and closing drive subroutine. Continuously detects whether the drone is in place. If so, it executes the corresponding charging mechanism drive subroutine. If neither is the case, it performs other operations.

[0083] In Figure 8 it, the software structure of the system mainly realizes the initialization of the hardware, continuously detects whether the drone has landed. If so, it executes the corresponding cover opening and closing drive subroutine. Continuously detects whether the drone is in place. If so, it executes the corresponding charging mechanism drive subroutine. If neither is the case, it performs other operations.

[0084] In Figure 9 it, the software structure of the system mainly realizes automatic charging, enters the charging subroutine, reads the status. If it is in automatic mode, it enters the automatic mode subroutine. If it is not in automatic mode, it enters the stop mode subroutine.

[0085] InFigure 10 In the automatic mode subroutine flowchart, when entering the automatic mode subroutine, the system will read the status flag. If charging, the centralized control module will calculate the battery power based on the voltage and current signals collected by the battery voltage acquisition circuit and the current acquisition circuit. If the power is low, the centralized control module will turn on the adapter charging by cutting off the circuit through the adapter and the adapter charging on-off circuit, while the light strip blinks, the touch screen displays the voltage, current and power, the charging animation blinks, and the timing starts. During the charging process, the centralized control module will continuously monitor the battery voltage and current signals to determine whether the battery is fully charged. If it is fully charged, the centralized control module will stop charging by cutting off the circuit through the adapter and the adapter charging on-off circuit, and set the stop charging flag.

[0086] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications or deformations that can be made without creative efforts on the basis of the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A UAV charging system control circuit, characterized in that: An adapter cut-off circuit is included, wherein the adapter cut-off circuit includes an optocoupler isolator, a relay, and a rectifier diode; The input end of the optocoupler isolator is connected to the single-chip microcomputer, the output end is connected to the base of the transistor, the emitter of the transistor is grounded, the collector of the transistor is connected to one end of the relay coil, the other end of the relay coil is connected to the first power supply, and the contacts of the relay are used to control the on and off of the second power supply; The optocoupler isolator is used to isolate the control signal of the single-chip microcomputer and transmit it to the transistor, the transistor is used to control the on and off of the relay coil, and the relay is used to control the on and off of the second power supply.

2. The UAV charging system control circuit according to claim 1, characterized in that: The adapter cut-off circuit further includes a rectifier diode, the anode of the rectifier diode is connected to one end of the relay coil, the cathode is grounded, and the rectifier diode is used to absorb the reverse electromotive force generated when the relay coil is powered off.

3. The UAV charging system control circuit according to claim 2, characterized in that: A first resistor is arranged between the input end of the optocoupler isolator and the ground, a second resistor is arranged between the output end of the optocoupler isolator and the base of the transistor; and a third resistor is arranged between the base of the transistor and the ground.

4. The UAV charging system control circuit according to claim 1, characterized in that: It also includes a battery voltage collection circuit, which includes a bridge circuit, a voltage divider circuit, a differential amplifier and an analog-to-digital converter; The input end of the bridge circuit is connected to the positive and negative electrodes of the battery to be tested, and the output end of the bridge circuit is connected to the input end of the voltage divider circuit; the output end of the voltage divider circuit is connected to the input end of the differential amplifier, and the output end of the differential amplifier is connected to the input end of the analog-to-digital converter; the bridge circuit is used to collect the battery voltage regardless of whether the battery voltage is connected positively or negatively; the voltage divider circuit is used to perform voltage division processing on the collected voltage signal; the differential amplifier is used to amplify the voltage signal after voltage division; and the analog-to-digital converter is used to convert the amplified voltage signal into a digital signal.

5. The UAV charging system control circuit according to claim 4, characterized in that: The voltage divider circuit includes a first resistor and a second resistor, one end of the first resistor is connected to the output end of the bridge circuit, and the other end is connected to one end of the second resistor, the other end of the second resistor is connected to the input end of the differential amplifier, and the resistance ratio of the first resistor and the second resistor is used to divide the collected voltage signal into the working voltage range of the differential amplifier; The power supply pin of the differential amplifier is connected to the power supply voltage, the reference pin of the differential amplifier is connected to the ground, and the gain setting resistor of the differential amplifier is used to adjust the amplification factor.

6. The UAV charging system control circuit according to claim 5, characterized in that: It also includes a current acquisition circuit, which includes a current sensor and an RC filter circuit. The current sensor is connected in series to the charging circuit for real-time detection of the charging current. The RC filter circuit is connected between the output end of the current sensor and the port of the single-chip microcomputer for filtering out high-frequency noise. The differential signal output interface converts the filtered current signal into a single-ended signal through a differential amplifier and inputs it into the port of the single-chip microcomputer.

7. The UAV charging system control circuit according to claim 6, characterized in that: It also includes an adapter charging on-off circuit, which includes an optocoupler isolation unit, a driving transistor, a relay and a freewheeling diode. The input end of the optocoupler isolation unit is connected to the control signal input end, and the output end is connected to the base of the driving transistor, so as to realize electrical isolation between the control signal and the high-voltage circuit. The collector of the driving transistor is connected to the positive electrode of the power supply through the relay coil, the emitter is grounded, and the base of the transistor is connected to the output end of the optical coupling isolation unit, and is used to drive the relay coil to be turned on and off according to the optical coupling signal; The normally open contact of the relay is connected in series in the charging circuit of the adapter, and the on and off of the relay coil is controlled by the driving transistor to realize the conduction or disconnection of the charging circuit; The freewheeling diode is connected in parallel across the relay coil to absorb the reverse electromotive force generated when the relay is disconnected.

8. The UAV charging system control circuit according to claim 7, characterized in that: The positive electrode of the light-emitting diode on the input side of the optocoupler isolation unit is connected to the control signal input terminal through a resistor, and the negative electrode is grounded; the base of the driving transistor is connected to the collector on the output side of the optocoupler through a resistor, the emitter is directly grounded, and the collector is grounded through a resistor.

9. The UAV charging system control circuit according to claim 7, characterized in that: It also includes a centralized control module, a battery voltage acquisition circuit acquires a voltage signal and transmits it to the centralized control module after amplification through a differential amplifier, and a current acquisition circuit acquires a charging current signal and transmits it to the centralized control module after preventing external interference through a shielding circuit; The centralized control module is connected to the battery voltage acquisition circuit, the adapter cut-off circuit, the current acquisition circuit and the adapter charging on-off circuit, and is used to receive signals transmitted by the battery voltage acquisition circuit and the current acquisition circuit, and control the adapter cut-off circuit and the adapter charging on-off circuit.

10. A UAV charging nest system, characterized in that: include: A task execution module, a power supply system and a UAV charging system control circuit as described in any one of claims 1 to 9; The task execution module is used to store and place drones, realize automatic release and recovery of drones, automatically charge drone batteries, and realize telemetry communication with drones; the power supply system adopts a photovoltaic power generation system to provide power, including solar photovoltaic panels, battery packs, charge and discharge controllers and inverters.

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