Unmanned aerial vehicle wireless charging anti-offset magnetic coupler optimization design method

Abstract

The invention discloses an optimization design method for an unmanned aerial vehicle wireless charging anti-offset magnetic coupler. The optimization design method comprises the steps of parameter preset processing, parameter optimization design and multi-dimensional performance comprehensive evaluation. Wherein the working frequency, the energy transfer distance, the receiving coil parameter and the maximum radius of the transmitting coil of the system are preset based on the size and the anti-offset requirement of the unmanned aerial vehicle, and a ferrite structure is configured; dynamically adjusting the number of turns of inner and outer rings and the radius of the inner ring of the transmitting coil by adopting a multi-layer nested traversal circulation method, and screening parameter combinations with stable mutual inductance fluctuation through finite element simulation; and an optimal scheme is selected by combining quantitative evaluation of an anti-offset range, coupling strength and a magnetic field uniformity index. According to the method, multiple coil types and ferrite structures are compatible through parametric modeling and a dynamic optimization mechanism, the anti-offset capability and the system reliability are remarkably improved, an optimization design adaptive to a complex scene is rapidly generated, and the efficient wireless charging requirement of the unmanned aerial vehicle in a dynamic environment is met.

Description

Technical Field

[0001] The present invention relates to the wireless charging technology of unmanned aerial vehicles (UAVs), and particularly to an optimized design method for an anti-offset magnetic coupler for wireless charging of UAVs. Background Art

[0002] With the development of electrification and intelligence, UAVs have been widely used in many fields such as traffic monitoring, logistics distribution, infrastructure inspection, and transmission line maintenance. With the maturity of long-distance and large-capacity power transmission technologies such as ultra-high voltage, the complexity of transmission lines and the transmission distance are also increasing continuously. Many of these lines pass through special terrains such as mountains, canyons, rivers, and lakes, and these complexities have brought new problems to the operation and maintenance of transmission lines. As the preferred method for intelligent power inspection, UAVs can solve the safety and efficiency problems of manual inspection at the same time. At present, the endurance distance and battery capacity of UAVs severely limit the working radius. Developing a highly reliable and flexible charging solution is very important for the wide application of UAVs. Due to the convenience of not requiring a wired connection, wireless power transfer (WPT) technology is the preferred research direction for the intelligent self-charging of UAVs at present.

[0003] The operating environment of power inspection UAVs is complex, and external factors interfere during the hovering and moving processes. Affected by environmental factors such as positioning accuracy, UAVs often cannot achieve precise alignment during landing, resulting in uncontrollable multi-directional spatial offsets. The core of a wireless charging system is the design of a coupler. In view of the landing offset characteristics of UAVs, a highly anti-offset magnetic coupler needs to be designed in the wireless charging system to reduce the requirements for positioning and alignment technologies during the charging process, thereby improving the reliability of the wireless charging system. Existing design ideas often propose a specific coupler design and lack guidance on the design method of this type of coupler. The portability of the scheme is poor and the applicable range is very narrow.

[0004] It should be noted that the information disclosed in the above background art section is only used for understanding the background of the present application, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0005] The main object of the present invention is to overcome the defects existing in the above background art and provide an optimized design method for an anti-offset magnetic coupler for wireless charging of UAVs.

[0006] To achieve the above object, the present invention adopts the following technical solutions: An optimized design method for an anti-offset magnetic coupler for wireless charging of UAVs includes the following steps: S1. Parameter presetting processing: Based on the size of the UAV and the anti-offset requirements, determine the system operating frequency, power transmission distance, radius and number of turns of the receiving coil, and set the maximum radius of the transmitting coil and the supporting ferrite structure; S2. Parameter optimization design: Adopt a multi-layer nested traversal loop method. Through the outer loop, adjust the number of turns of the inner and outer coils of the transmitting coil, and through the inner loop, adjust the inner radius of the transmitting coil. Perform finite element simulations for each parameter combination, calculate the mutual inductance changes under different radial offsets, and screen out the parameter combinations that meet the mutual inductance stability threshold. S3. Comprehensive multi-dimensional performance evaluation: Based on the anti-offset range, coupling strength, and magnetic field uniformity indicators, select the optimal solution from the screened parameter combinations.

[0007] Further, step S1 specifically includes: Determine the radius and number of turns of the receiving coil according to the size limit of the receiving coil, and set the maximum radius of the transmitting coil in combination with the anti-offset requirement. According to the energy transmission distance and operating frequency, configure the ferrite structure type to enhance the coupling strength and anti-offset ability.

[0008] Further, step S2 specifically includes: The outer loop traverses the number of turns of the inner and outer coils of the transmitting coil with a preset step size, and limits the range of turn changes to the proportional interval of the number of turns of the receiving coil. The inner loop traverses the inner radius of the transmitting coil with a preset step size, and limits its radius range to the proportional interval of the receiving coil radius to the critical value that cannot overlap with the outer transmitting coil. For each parameter combination, simulate and calculate the mutual inductance values under different radial offsets, and use the mutual inductance fluctuation not exceeding the set threshold as the criterion for judging the anti-offset ability.

[0009] Further, the execution mechanism of the outer loop and the inner loop includes: At each outer loop step size, sequentially traverse all the radius parameter combinations of the inner loop. For the current parameter combination, obtain the mutual inductance values under different offsets through finite element simulation, and judge whether it meets the stability condition based on its fluctuation degree. If the condition is met, retain this parameter combination as a candidate solution; otherwise, adjust the parameters until the upper limit of the traversal range is reached.

[0010] Further, the implementation method of the finite element simulation in step S2 includes: Set the incremental step size of the radial offset to simulate the multi-directional offset scenarios during the UAV landing. Calculate the mutual inductance values at each offset position through parametric modeling, and extract the trend data of its change with the offset. Use the mutual inductance fluctuation range as the core index for evaluating the anti-offset characteristics, and screen out the parameter combinations that meet the preset threshold.

[0011] Further, step S3 specifically includes: Build a comprehensive performance evaluation system, and use the anti-offset range, mutual inductance amplitude, and magnetic field uniformity as multi-dimensional evaluation indicators; Quantitatively score the candidate parameter combinations, and select the adapted solution according to the priority of the actual application scenario requirements; Output multiple groups of optimized parameter combinations that meet different anti-offset requirements, which are used to guide the structural design of the magnetic coupler.

[0012] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the optimized design method of the anti-offset magnetic coupler for wireless charging of unmanned aerial vehicles.

[0013] A computer program product includes a computer program, and when the computer program is executed by a processor, it implements the optimized design method of the anti-offset magnetic coupler for wireless charging of unmanned aerial vehicles.

[0014] The present invention has the following beneficial effects: The present invention provides an optimized design method for an anti-offset magnetic coupler for wireless charging of unmanned aerial vehicles, which has a highly flexible design process and an efficient parameter optimization mechanism. The design method of the present invention can automatically adjust key parameters such as the number of turns of the inner and outer coils and the inner coil radius of the transmitting coil through a multi-layer nested traversal loop method, combined with the finite element simulation technology, and quickly screen out multiple combinations that meet the mutual inductance stability threshold. In the design process, the core parameter ranges with different anti-offset requirements are preset, which is compatible with various types of receiving coils and ferrite structures, especially suitable for coil layouts with central symmetry, so as to expand the omnidirectional anti-offset area. The present invention abandons the traditional complex electromagnetic field strength analysis, directly uses the mutual inductance parameter as the core evaluation index, simplifies the calculation process through finite element parametric simulation, and greatly reduces the design complexity while ensuring the accuracy of the results. This method supports dynamically setting the traversal step size and parameter interval, which can not only accelerate the optimization process, but also comprehensively select the optimal solution through multi-dimensional performance evaluation (such as anti-offset range, coupling strength, and magnetic field uniformity). For example, by restricting the parameter traversal range and synchronously adjusting the number of turns of the inner and outer coils, the interference of extreme values is effectively avoided, ensuring the practicality of the optimization results in engineering scenarios. By adjusting the inner winding radius to generate multiple parameter solutions, different levels of offset tolerance capabilities are realized, effectively controlling the mutual inductance fluctuation while expanding the anti-offset range, and significantly improving the versatility and adaptability of the solution. Experimental tests show that the design method of the present invention can maintain the mutual inductance stability in a wide range of offset scenarios, ensuring the reliability and consistency of the output performance of the wireless charging system. The design idea of the present invention without presetting goals and based on a unified evaluation index significantly improves the reliability and engineering application value of the magnetic coupler, and is especially suitable for the wireless charging requirements of unmanned aerial vehicles in complex environments.

[0015] Other beneficial effects in the embodiments of the present invention will be further described below. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of a magnetic coupler for wireless charging of a drone with anti - offset function.

[0017] Figure 2 It is the overall flowchart of the anti - offset coil optimization design method of the present invention.

[0018] Figure 3 It is the specific flowchart of the anti - offset coil optimization design method of the embodiment of the present invention.

[0019] Figure 4 It is the flowchart of the anti - offset coil optimization design method of a specific example of the present invention.

[0020] Figure 5 It is the trend chart of the mutual inductance M changing with the offset amount under different optimization parameter combinations of the embodiment of the present invention.

[0021] Reference Signs: 100 - Transmitting Coil 200 - Receiving Coil 300 - Ferrite Structure 1 - Product of the number of turns of the outer - layer transmitting coil and the thickness of the Litz wire N p1 * w p 2 - Energy Transfer Distance d 3 - Inner - layer Transmitting Coil Radius r p2 4 - Outer - layer Transmitting Coil Radius r p1 5 - Receiving Coil Radius r s 。 Detailed Embodiment

[0022] The following makes a detailed description of the embodiments of the present invention. It should be emphasized that the following description is merely exemplary and not intended to limit the scope of the present invention and its applications.

[0023] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for coupling or communicating.

[0024] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0025] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0026] Figure 1 The overall structure and main parameters of the wireless charging anti-offset magnetic coupler for the unmanned aerial vehicle are shown (the specific meanings of each parameter are shown in Table 1). The receiving coil 200 is installed on the unmanned aerial vehicle. When charging, the unmanned aerial vehicle stops above the transmitting coil 100 at the charging point. Among them, the transmitting coil 100 adopts an inner and outer layer coil design: the transmitting coil 100 is composed of an outer layer coil (radius r p1 , number of turns N p1 ) and an inner layer coil (radius r p2 , number of turns N p2 ), and the two are spaced apart to avoid winding overlap; the receiving coil 200 (radius r s , number of turns N s ) maintains a power transfer distance d from the transmitting coil 100, and a ferrite structure 300 is configured to enhance the magnetic field coupling efficiency. The Litz wire thickness w p is used to control the spatial layout of the coil windings.

[0027] Table 1 Meanings of each parameter in the coupler

[0028] The design ideas of traditional anti-offset magnetic couplers often rely on specific parameter combinations and lack a systematic design method, resulting in poor portability of the solution and limited applicable scenarios. The present invention aims to solve the above problems existing in the traditional design method and proposes an optimized design method for an anti-offset magnetic coupler for wireless charging of unmanned aerial vehicles. Through parametric modeling and a multi-layer nested optimization process, flexible matching of core parameters such as the number of turns and radius of the transmitting coil is achieved. Combining multi-dimensional evaluations of anti-offset ability and coupling strength significantly improves the versatility and anti-offset performance of the magnetic coupler design method.

[0029] Referring to Figure 2 , an embodiment of the present invention provides an optimized design method for an anti-offset magnetic coupler for wireless charging of unmanned aerial vehicles, including the following steps: Step S1. Parameter presetting processing: Based on the size of the unmanned aerial vehicle and the anti-offset requirement, determine the system operating frequency, energy transmission distance, radius and number of turns of the receiving coil, and set the maximum radius of the transmitting coil and the supporting ferrite structure.

[0030] In some embodiments, step S1 specifically includes: determining the radius and number of turns of the receiving coil according to the size limitation of the receiving coil, and setting the maximum radius of the transmitting coil in combination with the anti-offset requirement; configuring the type of ferrite structure according to the energy transmission distance and operating frequency to enhance the coupling strength and anti-offset ability.

[0031] Step S2. Parameter optimized design: Adopt a multi-layer nested traversal loop method. Through the outer loop, adjust the number of turns of the inner and outer circles of the transmitting coil, and through the inner loop, adjust the radius of the inner circle of the transmitting coil. Perform finite element simulation on each parameter combination, calculate the mutual inductance change under different radial offset amounts, and screen out the parameter combinations that meet the mutual inductance stability threshold.

[0032] In some embodiments, step S2 specifically includes: The outer loop traverses the number of turns of the inner and outer circles of the transmitting coil with a preset step size, and limits the range of the number of turns change to the proportional interval of the number of turns of the receiving coil; the inner loop traverses the radius of the inner circle of the transmitting coil with a preset step size, and limits its radius range to the proportional interval of the radius of the receiving coil to the critical value that cannot overlap with the outer circle of the transmitting coil; for each parameter combination, simulate and calculate the mutual inductance value under different radial offset amounts, and use the mutual inductance fluctuation not exceeding the set threshold as the anti-offset ability determination criterion.

[0033] In a further preferred embodiment, the execution mechanism of the outer loop and the inner loop includes: at each outer loop step size, sequentially traverse all the radius parameter combinations of the inner loop; for the current parameter combination, obtain the mutual inductance values under different offset amounts through finite element simulation, and judge whether it meets the stability condition based on its fluctuation degree; if it meets the condition, retain the parameter combination as a candidate solution; otherwise, adjust the parameters until the upper limit of the traversal range is reached.

[0034] In some embodiments, the implementation method of the finite element simulation in step S2 includes: setting the incremental step of the radial offset, simulating the multi-directional offset scenarios during the UAV landing; calculating the mutual inductance values at each offset position through parametric modeling, and extracting the trend data of the mutual inductance value varying with the offset; using the mutual inductance fluctuation range as the core index for evaluating the anti-offset characteristics, and screening out the parameter combinations that meet the preset threshold.

[0035] Step S3. Comprehensive multi-dimensional performance evaluation: Based on the anti-offset range, coupling strength, and magnetic field uniformity indicators, select the optimal solution from the screened parameter combinations.

[0036] In some embodiments, step S3 specifically includes: constructing a comprehensive performance evaluation system, taking the anti-offset range, mutual inductance amplitude, and magnetic field uniformity as multi-dimensional evaluation indicators; performing quantitative scoring on the candidate parameter combinations, and selecting the appropriate solution according to the priority of the actual application scenario requirements; outputting multiple groups of optimized parameter combinations that meet different anti-offset requirements to guide the structural design of the magnetic coupler.

[0037] The following further describes the specific embodiments of the present invention, its method examples, and experimental results.

[0038] An optimization design method for an anti-offset magnetic coupler for UAV wireless charging specifically includes the following steps: Step 1: Parameter preset processing.

[0039] Determine the system parameters, including the system operating frequency f and the supporting ferrite structure; determine the energy transfer distance d、 the radius of the receiving coil r s and the number of turns N s according to the body size; determine the maximum radius of the transmitting coil r p1 .

[0040] Step 2: Parameter optimization design.

[0041] As Figure 3 , the process of this design method adopts a multi-layer nested traversal loop method. By traversing the specific ranges of parameters such as the number of turns of the inner and outer coils of the transmitting coil N p1 , N p2 , the radius of the inner winding of the transmitting coil r p2 , etc., perform finite element simulation on each parameter combination to determine whether the combination has the anti-offset ability and the corresponding anti-offset range.

[0042] The outer loop object is the number of turns of the inner and outer windings at the transmitting end Np1 , N p2 , the step size is Δ N , limit the range of the number of turns at the transmitter (1- a %) N s ~(1+ a %) N s The inner loop object is the inner winding radius of the transmitter. r p2 , the step size is Δ r , limiting the inner winding radius r p2 The traversal range is (1+ b %) r s ~ r in , r in = r p1 - N p1 × w p , that is, the inner and outer windings cannot overlap. N p1 , N p2 , r p2 Under the combination of x i , the step size is Δ x , using finite element simulation to calculate different radial offsets x i The mutual inductance M between the lower receiving end and the transmitting end ps . Set ΔM ps ≤ c % is the boundary condition that characterizes the stability of mutual inductance. The cycle is completed after traversing all parameter combinations within the limit range and calculating the trend of mutual inductance changing with radial offset under different combinations.

[0043] Step 3: Optimization plan evaluation.

[0044] After step 2, different parameter combinations with different anti-offset characteristics can be obtained, from which the solution that meets the required anti-offset requirements can be selected. On this basis, a comprehensive performance evaluation index can be constructed, while considering multi-dimensional performance parameters such as coupling strength, anti-offset range and magnetic field uniformity.

[0045] Examples and verification: See also Figure 4 , an exemplary anti-offset coil optimization design method process is as follows: Step 1: Due to the size limitation of the drone, set the radius of the receiving coil r s to be 100 mm. No ferrite is added at the receiving end. To improve the coupling strength, the receiving coil is wound densely, N s and the number of turns per unit length r p1 is usually r s 2.5 to 3.0 times that of the original. In this embodiment, r p1 is selected as r s = 300 mm. The supporting ferrite structure is a central enhanced array type. The power transmission distance d is 40 mm, and the system operating frequency f is 85 kHz.

[0046] Step 2: In order to balance the primary and secondary side stresses and reduce the loop loss, the total number of turns of the transmitting coil should be relatively close. Therefore, set a % to be 20%; Considering accelerating the cycle speed N p1 and N p2 are set to change synchronously. Restrict the traversal range of r p2 such that b % is taken as 20%, and the anti-offset boundary condition c % is taken as 5%.

[0047] Traverse according to the designed design method process and set parameters, and obtain the following three typical anti-offset parameter combinations. In the three cases, as the radial offset increases, the mutual inductance M remains stable within 60%, 90%, and 120% of r s respectively. Since the proposed grouped series-wound coupler has central symmetry, it can be considered that the anti-offset region is a circular region centered on the positive center point with different radial offsets as the radii. That is, the design method process simultaneously obtains three different optimized parameter schemes that meet different anti-offset requirements.

[0048] Step 3: The three optimized schemes obtained can be comprehensively evaluated from aspects such as the anti-offset region range, mutual inductance magnitude, and mutual inductance stability, and different structures can be selected according to different requirements.

[0049] Figure 5 shows the variation trend of the mutual inductance M with the offset for the embodiments under different optimized parameter combinations.

[0050] Table 2 Coil parameters of different anti-offset optimization schemes

[0051] As can be seen from the above, through parametric modeling and multi-layer nested optimization process, the design method of the present invention realizes the efficient matching of core parameters such as the number of turns and radius of the transmitting coil, and can quickly generate multiple sets of optimization schemes under different anti-offset requirements. As Figure 5 shown, in the embodiment, the mutual inductance values (M) under three optimized parameter combinations show significant differences as the offset increases: Scheme 1 remains stable when the offset reaches 60% of the radius of the receiving coil, and Schemes 2 and 3 are extended to the offset ranges of 90% and 120% respectively, and the mutual inductance fluctuations of all schemes are strictly controlled within 5% (the specific parameter configurations are shown in Table 2, and different anti-offset performances are achieved by adjusting key parameters such as the radius of the inner winding). This trend directly verifies the correlation between the radius of the inner winding and the anti-offset range, and at the same time shows that the design method of the present invention can flexibly adapt to different offset tolerance requirements through parameter combination adjustment. This method not only verifies the direct correlation between the anti-offset region and the mutual inductance stability through finite element simulation, but also demonstrates the flexibility and scalability of the design process - without presetting optimization goals, it is compatible with various ferrite structures and receiving coil types, significantly improving the versatility and engineering applicability of the magnetic coupler. In addition, by quantitatively screening the schemes through comprehensive performance evaluation indicators, it is ensured that the final design achieves the optimal balance among coupling strength, magnetic field uniformity and anti-offset ability, providing reliable technical support for the actual deployment of the UAV wireless charging system.

[0052] In summary, based on the high anti-offset coupler structure applicable to UAV wireless charging, the present invention provides an optimized design method for an anti-offset magnetic coupler for UAV wireless charging, proposes a design idea and an optimization process applicable to different anti-offset requirements, and can accurately and reliably guide the design of high anti-offset couplers. Compared with the prior art, the significant advantages of the present invention include: 1. The design method of the present invention is based on the grouped series-wound coil structure, and determines the optimized parameter combination through the traversal method of multi-layer loop nesting, and can be compatible with different types of receiving coils and ferrite structures. In the design method process, some dimension parameters and supporting ferrite structures have been preset according to different anti-offset requirements before the optimization loop. The specific dimensions are not involved in the optimization loop, and the only evaluation criterion is the stability of the mutual inductance of the coupler. In addition, the design method process can be compatible with receiving coils of different shapes, and as long as the coil has central symmetry, omnidirectional anti-offset regions of different sizes can be extended.

[0053] 2. The design method of the present invention circumvents the complex and lengthy electromagnetic field calculation steps in the traditional magnetic coupler design process. Instead of using the electromagnetic field strength and uniformity to measure the anti-offset characteristics, it uses the mutual inductance M, the most core electrical parameter, to measure the degree of influence of spatial offset on the performance fluctuation of the wireless charging system. That is, as long as the fluctuation of the mutual inductance M is small enough, which reflects stable output in the wireless charging system, there is no need to study the changes in the electromagnetic field strength and distribution, and it can be regarded as having sufficient spatial offset redundancy. Through the finite element parametric simulation and iterative calculation method, the obtained results are fast, accurate and intuitive.

[0054] 3. The design method of the present invention has high flexibility and adjustable precision, has no limitation on the optimized performance, and can adapt to different anti-offset requirements and generate optimized parameter combinations at the same time. According to experience, the optimal parameter combination will not appear at the extreme values. Therefore, restricting the parameter traversal interval can greatly accelerate the optimization calculation process. At the same time, both the loop step and the traversal interval can be set by itself during the optimization process, that is, it can traverse under different precisions and ranges, improving the flexibility of the design method process. Compared with the existing design method process, this design method does not preset the expected optimized result, but selects the optimized parameter combination through a unified comprehensive evaluation index after the loop. Therefore, various optimized results that meet different requirements can be obtained at the same time, avoiding repeated calculations and having high engineering value.

[0055] The embodiment of the present invention also provides a storage medium for storing a computer program, which when executed, at least executes the method as described above.

[0056] The embodiment of the present invention also provides a control device, including a processor and a storage medium for storing a computer program; wherein, the processor is used to execute the computer program to at least execute the method as described above.

[0057] The embodiment of the present invention also provides a processor, and the processor executes a computer program to at least execute the method as described above.

[0058] The storage medium can be implemented by any type of non-volatile storage device, or a combination thereof. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The storage medium described in the embodiments of the present invention is intended to include, but not limited to, these and any other suitable types of memories.

[0059] In several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling or communication connection between the components shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0060] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0061] In addition, in each embodiment of the present invention, each functional unit can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in one unit; the above integrated unit can be implemented in the form of hardware, or in the form of a hardware plus a software functional unit.

[0062] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments; and the foregoing storage medium includes: various media such as removable storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0063] Alternatively, if the above integrated unit is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present invention. And the foregoing storage medium includes: various media such as removable storage devices, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0064] The methods disclosed in several method embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0065] The features disclosed in several product embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0066] The features disclosed in several method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0067] The above content is a further detailed description of the present invention in combination with specific preferred implementation manners. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those skilled in the technical field to which the present invention pertains, without departing from the concept of the present invention, several equivalent substitutions or obvious variations can be made, and as long as the performance or use is the same, they should all be regarded as belonging to the protection scope of the present invention.

Claims

1. An optimized design method for a wireless charging anti-offset magnetic coupler of an unmanned aerial vehicle, characterized in that It includes the following steps: S1. Parameter presetting processing: Based on the size of the drone and the anti-offset requirement, determine the system operating frequency, energy transfer distance, radius and number of turns of the receiving coil, and set the maximum radius of the transmitting coil and the supporting ferrite structure; S2. Parameter optimization design: Adopt a multi-layer nested traversal loop method. Through the outer loop, adjust the number of turns of the inner and outer coils of the transmitting coil, and through the inner loop, adjust the radius of the inner transmitting coil. Perform finite element simulation on each parameter combination, calculate the mutual inductance change under different radial offset amounts, and screen out the parameter combinations that meet the mutual inductance stability threshold; S3. Comprehensive multi-dimensional performance evaluation: Based on the anti-offset range, coupling strength, and magnetic field uniformity indicators, select the optimal solution from the screened parameter combinations.

2. The optimized design method of the anti-offset magnetic coupler for wireless charging of drones according to claim 1, characterized in that Step S1 specifically includes: Determine the radius and number of turns of the receiving coil according to the size limit of the receiving coil, and set the maximum radius of the transmitting coil in combination with the anti-offset requirement; According to the energy transfer distance and operating frequency, configure the type of ferrite structure to enhance the coupling strength and anti-offset ability.

3. The optimized design method of the wireless charging anti-offset magnetic coupler for the drone according to claim 1, characterized in that Step S2 specifically includes: The outer loop traverses the number of turns of the inner and outer coils of the transmitting coil with a preset step size, and limits the range of turn changes to the proportional interval of the number of turns of the receiving coil; The inner loop traverses the radius of the inner transmitting coil with a preset step size, and limits its radius range to the proportional interval of the radius of the receiving coil to the critical value that cannot overlap with the outer transmitting coil; For each parameter combination, simulate and calculate the mutual inductance value under different radial offset amounts, and use the mutual inductance fluctuation not exceeding the set threshold as the judgment standard for anti-offset ability.

4. The optimized design method of the wireless charging anti-offset magnetic coupler for the drone according to claim 3, wherein The execution mechanism of the outer loop and the inner loop includes: At each outer loop step size, sequentially traverse all radius parameter combinations of the inner loop; For the current parameter combination, obtain the mutual inductance value under different offset amounts through finite element simulation, and judge whether it meets the stability condition based on its fluctuation degree; If the condition is met, retain the parameter combination as a candidate solution; otherwise, adjust the parameters until the upper limit of the traversal range is reached.

5. The optimized design method of the anti-offset magnetic coupler for wireless charging of the drone according to claim 1, wherein The implementation method of the finite element simulation in step S2 includes: Set the incremental step size of the radial offset amount to simulate the multi-directional offset scenario when the drone lands; Calculate the mutual inductance value at each offset position through parametric modeling, and extract the trend data of its change with the offset amount; Use the mutual inductance fluctuation range as the core index for evaluating the anti-offset characteristics, and screen out the parameter combinations that meet the preset threshold.

6. The optimized design method of the wireless charging anti-offset magnetic coupler for the drone according to claim 1, characterized in that, Step S3 specifically includes: Construct a comprehensive performance evaluation system, and use the anti-offset range, mutual inductance amplitude, and magnetic field uniformity as multi-dimensional evaluation indicators; Quantitatively score the candidate parameter combinations, and select the adapted solution according to the priority of the actual application scenario requirements; Output multiple groups of optimized parameter combinations that meet different anti-offset requirements to guide the structural design of the magnetic coupler.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method for optimizing the design of the anti-offset magnetic coupler for wireless charging of drones as described in any one of claims 1 to 6.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method for optimizing the design of the anti-offset magnetic coupler for wireless charging of drones as described in any one of claims 1 to 6.

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