Inspection unmanned aerial vehicle wireless charging system and method based on magnetic coupling mechanism

Abstract

The invention discloses an inspection unmanned aerial vehicle wireless charging system and method based on a magnetic coupling mechanism, and relates to the technical field of wireless power transmission, and the system comprises an inverter circuit, the magnetic coupling mechanism, a rectification circuit and an output variable load. Wherein the magnetic coupling mechanism adopts a double-coupling magnetic integrated coil structure, and the double-coupling magnetic integrated coil structure comprises a primary side quadrupole transmitting coil, a primary side compensation transmitting coil, a secondary side quadrupole receiving coil and a resonance compensation capacitor. According to the invention, the robustness of voltage and current output capability in different working environments can be improved, and stable electric energy transmission of the inspection unmanned aerial vehicle in different environment working conditions is realized.

Description

Technical Field

[0001] The present application relates to the field of wireless power transmission technology, and in particular to a wireless charging system and method for an inspection drone based on a magnetic coupling mechanism. Background Art

[0002] A drone (Unmanned Aerial Vehicle, or UAV) is a self-propelled, unmanned aircraft capable of carrying specialized equipment and performing a variety of missions according to specific requirements. A drone's flight time is a key performance metric, impacting its flight range, data collection capabilities, and the quantity and quality of missions it can perform. However, due to limitations in payload capacity and battery capacity, drones' endurance and cruising range are limited, hindering their further development.

[0003] For drones, the traditional manual plugging and unplugging method consumes significant manpower and resources. Therefore, applying wireless charging technology to drones can effectively increase the automation of charging and reduce labor costs. Wireless charging technology is achieved through electromagnetic induction, allowing drones to charge by receiving electromagnetic waves within a specific area. This method not only improves charging efficiency and reduces energy loss, but also reduces the risk of damage to the device. Furthermore, wireless charging technology can extend the duration of drone missions and improve their operational efficiency.

[0004] However, there are still some challenges to be addressed when applying wireless charging technology. For example, the stability and reliability of wireless charging equipment have not been fully verified, and its performance may be affected in harsh climate and environmental conditions. Furthermore, due to the limited charging area, this method is only applicable near the mission area and requires careful design and planning of charging sites. Therefore, practical applications require comprehensive consideration of various factors to maximize the potential of wireless charging technology while ensuring safety and reliability.

[0005] In practical applications, the landing position of a drone may shift to a certain extent due to the influence of open environmental conditions during landing, which can affect the coupling coefficient between the magnetic coupling mechanisms of the wireless charging device, resulting in reduced efficiency and stability of the wireless power transmission system. To enhance the robustness of the wireless charging device's output voltage and current capabilities in different operating environments, there is an urgent need to design a wireless charging system and method for inspection drones based on a magnetic coupling mechanism to achieve stable power transmission under different environmental conditions. Summary of the Invention

[0006] The purpose of this application is to provide a wireless charging system and method for inspection drones based on a magnetic coupling mechanism, which can improve the robustness of output voltage and current capabilities under different working environments and achieve stable power transmission for inspection drones under different environmental working conditions.

[0007] To achieve the above objectives, this application provides the following solutions:

[0008] In a first aspect, the present application provides a wireless charging system for an inspection drone based on a magnetic coupling mechanism, the wireless charging system for an inspection drone based on a magnetic coupling mechanism comprising:

[0009] Inverter circuit, used to convert direct current into high-frequency alternating current.

[0010] The magnetic coupling mechanism includes a transmitter and a receiver, wherein the transmitter is integrated into the charging platform and the receiver is installed at the bottom of the drone; the transmitter is used to generate a high-frequency magnetic field based on the high-frequency alternating current converted by the inverter circuit, and the receiver is used to couple with the high-frequency magnetic field to generate high-frequency alternating current.

[0011] The rectifier circuit is used to convert the high-frequency alternating current induced by the receiving end into direct current.

[0012] The output variable load is connected to the drone battery and is used to output the direct current converted by the rectifier circuit to the drone battery, thereby realizing wireless charging of the drone by the charging platform.

[0013] The magnetic coupling mechanism adopts a dual-coupled magnetic integrated coil structure, and the dual-coupled magnetic integrated coil structure includes:

[0014] The primary quadrupole transmitting coil is symmetrically distributed in the X and Y directions and is used to generate the high-frequency magnetic field with uniform distribution in the XY plane.

[0015] The primary compensation transmitting coil is located at the center of the primary quadrupole transmitting coil and is used to adjust the magnetic field distribution in the central area of ​​the primary quadrupole transmitting coil.

[0016] The secondary quadrupole receiving coil is spatially aligned with the primary quadrupole transmitting coil and is used for coupling with the high-frequency magnetic field to generate high-frequency alternating current.

[0017] The resonant compensation capacitor is connected to the primary quadrupole transmitting coil and the secondary quadrupole receiving coil respectively, and is used to provide a resonant compensation function for the coupling between the primary quadrupole transmitting coil and the secondary quadrupole receiving coil.

[0018] Optionally, the magnetic coupling mechanism satisfies:

[0019] The primary quadrupole transmitting coil and the secondary quadrupole receiving coil form a first energy transmission channel.

[0020] The primary compensation transmitting coil and the secondary quadrupole receiving coil form a second energy transmission channel.

[0021] When the drone deviates during landing, the magnetic field distributions of the first energy transmission channel and the second energy transmission channel complement each other to maintain a stable coupling coefficient.

[0022] Optionally, the primary compensation transmitting coil is integrated inside the primary quadrupole transmitting coil, the primary compensation transmitting coil and the primary quadrupole transmitting coil share the same ferrite core, and the primary compensation transmitting coil and the primary quadrupole transmitting coil are decoupled when working facing each other.

[0023] Optionally, the inspection drone wireless charging system based on the magnetic coupling mechanism adopts a multi-excitation multi-receiving circuit topology, and the multi-excitation multi-receiving circuit topology includes the inverter circuit, the transmitting end and the receiving end, and the receiving end dynamically controls the access of the transmitting coil in the transmitting end through voltage feedback.

[0024] Optionally, the multi-excitation multi-reception circuit topology is implemented as follows:

[0025] The transmitting end includes a plurality of independent transmitting coils, the receiving end includes a receiving end detection circuit, and the inverter circuit includes a full-bridge inverter circuit.

[0026] After the UAV lands, the receiving end detection circuit activates each of the transmitting coils in sequence and detects the rectified output voltage of each transmitting coil in real time.

[0027] When the rectifier output voltage is greater than a threshold, it is determined that the current transmitting coil is valid and is connected to the full-bridge inverter circuit.

[0028] When the voltage of the drone battery reaches a set value, the current transmitting coil is controlled to exit the working state through wireless communication control instructions.

[0029] Optionally, the receiving end detection circuit includes:

[0030] The diode rectifier module is used to convert the induced voltage into a DC signal.

[0031] The voltage comparator is used to compare the DC signal with a threshold value to determine whether the transmitting coil is currently within the effective receiving range of the receiving coil of the receiving end, and obtain a determination result.

[0032] The single chip microcomputer is used to wirelessly transmit the judgment result to the transmitting end.

[0033] Optionally, the multi-excitation multi-reception circuit topology adopts an LCC-S compensation topology structure.

[0034] The LCC-S compensation topology structure includes a power main circuit and a control auxiliary circuit connected to each other.

[0035] The control auxiliary circuit is used to adjust the inverter frequency of the power main circuit in real time by means of voltage and / or current sampling to achieve zero phase angle input and constant current output.

[0036] Optionally, the power main circuit includes a full-bridge inverter circuit, a resonant compensation circuit, a rectifier and filter circuit, and a BUCK step-down circuit connected in sequence.

[0037] Optionally, the control auxiliary circuit includes a transmitter signal generator, a voltage sampling circuit and a current sampling circuit connected in sequence; the transmitter signal generator is also connected to the full-bridge inverter circuit, and the voltage sampling circuit and the current sampling circuit are also connected to the BUCK step-down circuit.

[0038] In a second aspect, the present application provides a wireless charging method for an inspection drone based on a magnetic coupling mechanism, which is applied to any of the wireless charging systems for inspection drones based on a magnetic coupling mechanism. The wireless charging method for inspection drones based on a magnetic coupling mechanism comprises the following steps:

[0039] After the drone lands, the receiving end is used to activate each transmitting coil of the transmitting end in turn, and the rectifier output voltage of each transmitting coil is monitored in real time.

[0040] The rectified output voltage of each transmitting coil is compared with a threshold value, and when the rectified output voltage is greater than the threshold value, the current transmitting coil is determined to be a valid transmitting coil.

[0041] The effective transmitting coil is connected to the full-bridge inverter circuit until the voltage of the drone battery reaches the set value.

[0042] The wireless communication control instruction is used to control the current transmitting coil to exit the working state and complete autonomous charging.

[0043] According to the specific embodiments provided in this application, this application has the following technical effects:

[0044] The present application provides a wireless charging system and method for inspection drones based on a magnetic coupling mechanism. Currently, during the normal operation of drones, inaccurate landing positions often cause offsets between the primary and secondary sides of the magnetic coupling mechanism. This offset can occur in the X or Y direction. This offset reduces the coupling coefficient between the primary and secondary sides of the wireless power transmission system, resulting in a decrease in transmission power. Furthermore, while traditional rectangular and circular coils have a wide range of applications, they have poor anti-offset capabilities. Based on this, the present application designs a magnetic coupling mechanism with strong anti-offset characteristics, namely a dual-coupled magnetic integrated coil structure. This dual-coupled magnetic integrated coil structure includes a primary quadrupole transmitting coil, a primary compensating transmitting coil, a secondary quadrupole receiving coil, and a resonant compensation capacitor. By arranging the primary quadrupole transmitting coil symmetrically in the X and Y directions, a uniformly distributed high-frequency magnetic field is generated within the XY plane, supporting coupling even when the receiving end moves laterally and offsetting the magnetic field attenuation problem of a single coil at the edge. By adjusting the magnetic field distribution in the central region of the primary quadrupole transmitting coil using the primary compensating transmitting coil, the magnetic field in the center of the quadrupole coil can be prevented from being too weak, thereby improving the overall magnetic field uniformity. The synergistic effect of the primary quadrupole transmitting coil and the primary compensating transmitting coil allows the core to guide the magnetic flux to concentrate along the Z direction (perpendicular to the charging surface), thereby reducing magnetic leakage and improving the coupling coefficient between the coils. By spatially aligning the secondary quadrupole receiving coil with the primary quadrupole transmitting coil, it is possible to ensure that even when the receiving end is offset, some coils are still effectively coupled to the transmitting end, maintaining power transmission. This improves the robustness of the output voltage and current capabilities under different operating conditions, and achieves stable power transmission for inspection drones in different environmental conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 This is an architectural diagram of a wireless charging system for an inspection drone based on a magnetic coupling mechanism provided in one embodiment of the present application.

[0047] Figure 2 This is a magnetic field distribution diagram of the energy transmission channel between the primary quadrupole transmitting coil and the secondary quadrupole receiving coil under offset conditions provided by one embodiment of the present application.

[0048] Figure 3 This is a magnetic field distribution diagram of the energy transmission channel between the primary compensation transmitting coil and the secondary quadrupole receiving coil under offset conditions provided by one embodiment of the present application.

[0049] Figure 4 A schematic diagram of the three-dimensional structure of a dual-coupled magnetic integrated coil model provided in one embodiment of the present application.

[0050] Figure 5 A schematic diagram of the YOZ cross-sectional dimensions of a dual-coupled magnetic integrated coil model provided in one embodiment of the present application.

[0051] Figure 6 A parameterized topology diagram of a magnetic coupling circuit provided in one embodiment of the present application.

[0052] Figure 7 A schematic diagram of the principle of a receiving-end detection circuit provided in one embodiment of the present application.

[0053] Figure 8 This is a circuit architecture diagram of the transmitter PCB main control board provided in one embodiment of the present application.

[0054] Figure 9 A schematic diagram of the design of a drone charging platform provided in one embodiment of the present application.

[0055] Figure 10 This is a circuit topology diagram of the LCC-S compensation topology structure provided in one embodiment of the present application.

[0056] Figure 11 This is a distribution curve diagram of the simulated variable turns ratio and coupling coefficient provided in an embodiment of the present application.

[0057] Figure 12 This is a simulated turns ratio and efficiency distribution curve provided in an embodiment of the present application.

[0058] Figure 13 A diagram showing the horizontal offset, output efficiency, and output power distribution provided in one embodiment of the present application.

[0059] Figure 14 A flowchart of a wireless charging method for an inspection drone based on a magnetic coupling mechanism is provided in accordance with one embodiment of the present application. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0061] The present application aims to provide a wireless charging system and method for inspection drones based on a magnetic coupling mechanism, which can achieve safe and stable operation of the wireless power transmission system and efficient transmission of electric energy under different environmental conditions.

[0062] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0063] like Figure 1 As shown, this embodiment proposes a wireless charging system for inspection drones based on a magnetic coupling mechanism. The wireless charging system for inspection drones based on a magnetic coupling mechanism is applied to drone wireless charging scenarios, mainly to provide stable power transmission for inspection drones in various complex environments. The wireless charging system for inspection drones based on a magnetic coupling mechanism includes:

[0064] Inverter circuit, used to convert direct current into high-frequency alternating current.

[0065] The magnetic coupling mechanism includes a transmitter and a receiver, wherein the transmitter is integrated into the charging platform and the receiver is installed at the bottom of the drone; the transmitter is used to generate a high-frequency magnetic field based on the high-frequency alternating current converted by the inverter circuit, and the receiver is used to couple with the high-frequency magnetic field to generate high-frequency alternating current.

[0066] The rectifier circuit is used to convert the high-frequency alternating current induced by the receiving end into direct current.

[0067] The output variable load is connected to the drone battery and is used to output the direct current converted by the rectifier circuit to the drone battery, thereby realizing wireless charging of the drone by the charging platform.

[0068] The magnetic coupling mechanism adopts a dual-coupled magnetic integrated coil structure, and the dual-coupled magnetic integrated coil structure includes:

[0069] The primary quadrupole transmitting coil is symmetrically distributed in the X and Y directions and is used to generate the high-frequency magnetic field with uniform distribution in the XY plane.

[0070] The primary compensation transmitting coil is located at the center of the primary quadrupole transmitting coil and is used to adjust the magnetic field distribution in the central area of ​​the primary quadrupole transmitting coil.

[0071] The secondary quadrupole receiving coil is spatially aligned with the primary quadrupole transmitting coil and is used for coupling with the high-frequency magnetic field to generate high-frequency alternating current.

[0072] The resonant compensation capacitor is connected to the primary quadrupole transmitting coil and the secondary quadrupole receiving coil respectively, and is used to provide a resonant compensation function for the coupling between the primary quadrupole transmitting coil and the secondary quadrupole receiving coil.

[0073] In this embodiment, the magnetic coupling mechanism meets the following conditions:

[0074] The primary quadrupole transmitting coil and the secondary quadrupole receiving coil form a first energy transmission channel.

[0075] The primary compensation transmitting coil and the secondary quadrupole receiving coil form a second energy transmission channel.

[0076] When the drone deviates during landing, the magnetic field distributions of the first energy transmission channel and the second energy transmission channel complement each other to maintain a stable coupling coefficient.

[0077] In this embodiment, the primary compensation transmitting coil is integrated inside the primary quadrupole transmitting coil, the primary compensation transmitting coil and the primary quadrupole transmitting coil share the same ferrite core, and the primary compensation transmitting coil and the primary quadrupole transmitting coil are decoupled when working facing each other.

[0078] In this embodiment, the inspection drone wireless charging system based on the magnetic coupling mechanism adopts a multi-excitation multi-receiving circuit topology, which includes the inverter circuit, the transmitting end and the receiving end. The receiving end dynamically controls the access of the transmitting coil in the transmitting end through voltage feedback.

[0079] In this embodiment, the multi-excitation multi-reception circuit topology is implemented as follows:

[0080] The transmitting end includes a plurality of independent transmitting coils, the receiving end includes a receiving end detection circuit, and the inverter circuit includes a full-bridge inverter circuit.

[0081] After the UAV lands, the receiving end detection circuit activates each of the transmitting coils in sequence and detects the rectified output voltage of each transmitting coil in real time.

[0082] When the rectifier output voltage is greater than a threshold, it is determined that the current transmitting coil is valid and is connected to the full-bridge inverter circuit.

[0083] When the voltage of the drone battery reaches a set value, the current transmitting coil is controlled to exit the working state through wireless communication control instructions.

[0084] In this embodiment, the receiving end detection circuit includes:

[0085] The diode rectifier module is used to convert the induced voltage into a DC signal.

[0086] The voltage comparator is used to compare the DC signal with a threshold value to determine whether the transmitting coil is currently within the effective receiving range of the receiving coil of the receiving end, and obtain a determination result.

[0087] The single chip microcomputer is used to wirelessly transmit the judgment result to the transmitting end.

[0088] In this embodiment, the multi-excitation multi-receiving circuit topology adopts an LCC-S compensation topology structure.

[0089] The LCC-S compensation topology structure includes a power main circuit and a control auxiliary circuit connected to each other.

[0090] The control auxiliary circuit is used to adjust the inverter frequency of the power main circuit in real time by means of voltage and / or current sampling to achieve zero phase angle input and constant current output.

[0091] In this embodiment, the main power circuit includes a full-bridge inverter circuit, a resonant compensation circuit, a rectifier and filter circuit, and a BUCK step-down circuit connected in sequence.

[0092] In this embodiment, the control auxiliary circuit includes a transmitter signal generator, a voltage sampling circuit, and a current sampling circuit connected in sequence; the transmitter signal generator is also connected to the full-bridge inverter circuit, and the voltage sampling circuit and the current sampling circuit are also connected to the BUCK step-down circuit.

[0093] In order to make the technical solution of this embodiment clearer, the system structure and circuit structure of the inspection drone wireless charging system based on the magnetic coupling mechanism are described in detail below in the form of examples.

[0094] like Figure 1 As shown, this embodiment proposes a wireless charging system for an inspection drone based on a magnetic coupling mechanism, which mainly includes an inverter circuit, a magnetic coupling mechanism, a rectifier circuit and an output variable load.

[0095] The high-frequency AC power generated by the inverter circuit is fed into the transmitter circuit. Current and voltage feedback across the transmitter circuit is then fed into the inverter circuit's control circuit to track and control the resonant frequency. At the drone's receiver, the receiving coil couples with the high-frequency magnetic field generated by the transmitter to generate AC power. This power flows through a compensation capacitor, a rectifier filter, and a DC converter to wirelessly charge the battery load. The transmitter consists of multiple small transmitting coils. After landing, each transmitting coil is connected to the full-bridge inverter circuit in sequence. The receiver monitors the voltage at the rear end of the rectifier circuit to determine the active transmitting coil and connect it to the full-bridge inverter circuit during charging. During charging, the drone's receiver monitors the voltage of the drone's battery load in real time. Once the voltage reaches a set value, control commands are transmitted via wireless communication between the two microcontrollers on the transmitter and receiver sides, causing the active coil to exit the full-bridge inverter circuit, thus enabling the drone to autonomously complete the entire wireless charging process.

[0096] The features of the inspection drone wireless charging system based on the magnetic coupling mechanism in this embodiment include a strong anti-offset magnetic coupling mechanism design and a stable and efficient multi-excitation and multi-receiving circuit topology.

[0097] The design of a magnetic coupling mechanism with strong anti-offset characteristics in this embodiment is primarily embodied in a dual-coupled magnetic integrated coil structure, which includes a primary quadrupole transmitting coil, a primary compensating transmitting coil, a secondary quadrupole receiving coil, and a resonant compensation capacitor. The resonant compensation capacitor refers to the compensation capacitor in the resonant compensation circuit.

[0098] As a key component of wireless power transmission systems, the system parameter design and characteristic research of a magnetic coupling mechanism with strong anti-drift characteristics is particularly important. During the normal operation of drones, inaccurate landing positions often lead to offsets between the primary and secondary sides of the magnetic coupling mechanism. This offset can occur in the X or Y direction. This offset phenomenon reduces the coupling coefficient between the primary and secondary sides of the wireless power transmission system, resulting in a decrease in transmission power. Traditional rectangular and circular coils, while widely used, have poor anti-drift capabilities. Therefore, it is particularly important to rationally design the structure of the bilateral coils of the magnetic coupling mechanism to enhance its anti-drift performance. Based on this, this embodiment designs a magnetic coupling mechanism with strong anti-drift characteristics. This anti-drift magnetic coupling mechanism integrates a compensating inductor as a transmitting coil on the primary side of the magnetic coupling mechanism to meet zero-phase input conditions based on the existing quadrupole coil. Since the compensating inductor used in the original system is integrated into the transmitting coil as the primary side compensating transmitting coil, the inductive components and ferrite used in the original compensating inductor are saved, which can reduce the cost, volume, and weight of the drone's onboard components while increasing the energy transmission density and transmission efficiency of the drone's magnetic coupling mechanism.

[0099] When the magnetic coupling mechanism is working in the positive direction, the primary quadrupole transmitting coil and the primary compensating transmitting coil are decoupled. Therefore, there are two coupling energy channels between the primary and secondary sides of the magnetic coupling mechanism, namely: primary quadrupole transmitting coil-secondary quadrupole receiving coil, such as Figure 2 As shown, and the primary compensation transmitting coil-secondary quadrupole receiving coil, as Figure 3 This embodiment controls the coupling coefficient fluctuation range within ±0.02 by complementing the magnetic field distribution of the two coupling energy channels between the primary and secondary sides of the magnetic coupling mechanism, and improves the offset tolerance by 40%.

[0100] In order to Figure 4 As shown in the figure, good anti-offset capability is achieved in both the X and Y directions. In this embodiment, a quadrupole coil is proposed on the primary and secondary sides to obtain a symmetrical coupling coefficient. At the same time, the compensating inductor is integrated as a magnetic integrated transmitting coil in the primary side transmitting mechanism to obtain higher energy density, save inductive components, and increase power density.

[0101] Figure 4This is a schematic diagram of the three-dimensional structure of the dual-coupled magnetic integrated coil model, which includes a quadrupole transmitting coil (primary, lower layer), a compensating transmitting coil (primary center), a magnetic core (primary / secondary), and a quadrupole receiving coil (secondary, upper layer). The quadrupole transmitting coil is symmetrically distributed in the X and Y directions, making the magnetic field more uniform in the X and Y planes. This allows the receiving end to maintain coupling when moving laterally, and can offset the magnetic field attenuation problem of a single coil in the edge area. The compensating transmitting coil is located in the center of the quadrupole coil and is used to adjust the magnetic field distribution in the central area (to prevent the magnetic field in the center of the quadrupole coil from being too weak) and improve the overall magnetic field uniformity. The magnetic core guides the magnetic flux to concentrate in the Z direction (perpendicular to the charging surface), reducing leakage magnetic flux and increasing the coupling coefficient (mutual inductance) between the coils. The quadrupole receiving coil corresponds to the quadrupole structure of the transmitting end, ensuring that when the receiving end is offset, some coils are still effectively coupled with the transmitting end, maintaining power transmission.

[0102] Figure 5 The YOZ cross-sectional dimensions of the dual-coupled magnetic integrated coil model are shown in Figure 2. The lower (primary) coil includes the magnetic integrated transmitting coil and the T x Coil, the upper (secondary) coil is R x Coil, r in the figure 1x is the inner radius of the coil, r 2x is the outer radius of the coil, w 2x is the coil thickness, d1 is the primary core thickness, d2 is the secondary core thickness, d3 is the distance between coil layers, h is the primary and secondary air gap, i.e. the charging distance, ⊙ is the current flowing out of the paper, The current flows into the paper, and coils with different winding directions can complement each other's magnetic fields. The symbols and meanings of the dual-coupled magnetic integration coil are shown in Table 1.

[0103] Table 1. Symbols and meanings of dual-coupled magnetic integrated coils

[0104] symbol meaning f Operating frequency h Transmission distance <![CDATA[d1,d2]]> Diameter of litz wire used in Tx and Rx coils <![CDATA[d3]]> Diameter of litz wire used in compensation coils <![CDATA[w 1P ,In 2P ]]> Inner diameter of inner and outer primary coils <![CDATA[r 1P ,r 2P ]]> Inner and outer dimensions of the primary quadrupole transmitting coil <![CDATA[w 2x ]]> Inner dimensions of the secondary quadrupole receiving coil <![CDATA[r 2X ]]> Rx coil outer radius

[0105] Figure 4 and Figure 5 The primary compensation coil and the quadrupole coil share a ferrite core, reducing independent compensation inductance and airborne weight. The integrated magnetic design saves 30% volume, optimizing space and cost. Furthermore, by activating only the active coils and putting the inactive coils into hibernation, system standby power consumption is reduced by 60%, lowering power consumption through multiple coil reuse.

[0106] The stable and efficient multi-excitation, multi-receiving circuit topology in this embodiment includes three components: an inverter circuit, a transmitter, and a drone receiver. The first two components together form the drone wireless charging platform. During the drone wireless charging process, deviations in the magnetic coupling parameters caused by complex and changing environmental conditions can affect the system's overall mutual inductance, leading to system operating frequency drift and resonant cavity frequency misalignment. This can increase system reactive power and affect system transmission efficiency.

[0107] like Figure 6 As shown in Figure 1, the high-frequency AC power generated by the inverter circuit is input into the transmitting circuit, and the current and voltage at both ends of the transmitting circuit are fed back to the inverter circuit control system to track and control the resonant frequency. At the receiving end of the drone, the receiving coil generates AC power by coupling with the high-frequency magnetic field generated by the transmitting end. The AC power enters the diode rectifier circuit through the compensation capacitor, and then the wireless charging of the battery load is completed through the filter capacitor and the battery charging management chip. When the wireless charging system is in a resonant state, the following equation will be satisfied, as shown in Equation (1).

[0108]

[0109] Where j is the imaginary unit, ω is the angular frequency, L1 and L2 are the coil inductances, and C1 and C2 are the capacitances.

[0110] According to equation (1), when the system is in a resonant state, it becomes the following equation, as shown in equation (2).

[0111]

[0112] in, is the AC voltage phasor of the primary and secondary sides, is the AC current phasor of the primary and secondary sides, R1 and R2 are the internal resistance of the primary and secondary coils, M is the mutual inductance, R L is the secondary side load resistance.

[0113] After calculation, the output power of the system is shown in formula (3).

[0114]

[0115] Among them, P out is the active power consumed by the load.

[0116] In an exemplary embodiment, the transmitter is composed of a quadrupole coil, and after the drone lands, each coil is sequentially connected to a full-bridge inverter circuit. Figure 7As shown, the receiving end monitors the rectified voltage to determine the active transmitting coil and maintains its connection to the full-bridge inverter circuit during the charging process. Simultaneously, the drone's receiving end continuously monitors the battery load voltage. When it reaches a set value (for example, the voltage of a patrol drone, which typically uses a 6S battery, can be set to 25V), a control command is transmitted via the wireless communication module between the two microcontrollers, causing the active coil to exit the full-bridge inverter circuit, thereby enabling the drone to autonomously complete the entire wireless charging process. The receiving end detection circuit of this embodiment is linked to the microcontroller via a voltage comparator to achieve rapid and preferential connection of the transmitting coil, with a dynamic coil switching response time of less than 50ms. Furthermore, this embodiment has wide load adaptability. Within the battery load range of 20%-100%, the output voltage fluctuates less than 5%, while the output voltage fluctuation of traditional solutions exceeds 15%. Therefore, this embodiment improves the system's stability in complex operating conditions such as high noise, strong interference, and heavy loads.

[0117] exist Figure 7 In this design, the microcontroller on the transmitter side uses a current amplifier to sequentially activate each relay contact for a short period of time, transmitting a pulse signal. The receiver side detects the induced voltage and converts it into a more stable direct current (DC) through a diode rectifier circuit located on the drone's receiving end. This DC voltage is compared with a pre-set threshold. If the detected voltage exceeds the threshold, the currently activated transmitting coil is determined to be within the effective reception range of the receiving coil. If it is below the threshold, the receiving coil is determined to be outside the effective range of the transmitting coil. The microcontroller on the receiving end transmits this judgment to the transmitter side via wireless communication. This design not only reduces manual plugging and unplugging operations and improves automation, but also ensures the safety and efficiency of the charging process through real-time monitoring and feedback mechanisms. With further technological development, wireless charging will become more widely and conveniently used in drones. Figure 8 The circuit architecture diagram of the transmitter PCB main control board is shown.

[0118] In one exemplary embodiment, a magnetic coupling mechanism with strong anti-drift characteristics is arranged at the bottom of the drone body. The goal is to reduce the gap in the magnetic coupling mechanism to improve the power transmission efficiency of the wireless charging system. The main structure of the system includes a drone frame, a flight unit, and a charging unit. The drone frame is the overall framework of the drone, consisting of a central frame and four arms extending outward from the central frame. The flight unit is equipped with spiral blades at the four arms and is connected to the drive device. The charging unit is fixed inside the central frame and includes a power storage device fixed to the bottom of the central frame, a wireless charging device connected to the power storage device, and a wireless charging plate arranged on the top of the central frame.

[0119] In terms of overall design, the drone charging platform is Figure 9As shown, the drone structure involved includes the top plate, wing arms (upper and lower), middle plate, bottom plate, leg brackets and cushioning pads, pod, brushless motor and motor seat, blades, PIX4 flight control, Bluetooth module, receiving coil, electromagnetic shielding sheet, receiving end circuit board and DC-DC current converter.

[0120] The top plate, located at the center of the drone's uppermost layer, is secured to the mid-plate via upper wing arms. It carries the PIX4 flight controller, provides a mounting surface for the flight controller and Bluetooth module, and distributes the top load. The wing arms (upper and lower) are symmetrically arranged in four "double-arm structures." The upper arm connects the top plate to the mid-plate, while the lower arm connects the mid-plate to the bottom plate. These arms are secured with bolts and clips to form the "skeleton" of the quadcopter frame, ensuring a symmetrical layout for the quadrotor and supporting the weight of the powertrain (motor, propellers) and wiring.

[0121] The mid-plate is located in the middle layer between the top plate and the bottom plate. It has a built-in power distribution circuit and serves as the middle node between the upper and lower wing arms. The pod (battery) is suspended at the bottom and connected to the flight control at the top. It integrates the power supply and signal transmission of the flight control, electronic speed controller (ESC), and receiving circuit board.

[0122] The base plate is located at the bottom of the drone, with the wireless charging module installed on the top and the leg bracket connected to the bottom. It is fixed by the lower wing arm and the leg bracket, carrying the receiving coil and electromagnetic shielding sheet, providing a mounting surface for the wireless charging receiving end to ensure the alignment accuracy of the coil and the transmitting end.

[0123] The leg brackets and cushioning pads are located at the four corners of the base and extend downward. The cushioning pads are attached to the ends of the brackets. The bracket bolts are fixed to the base, and the pads are connected to the brackets with adhesives / snaps. They absorb impact during takeoff and landing, protecting the fuselage and charging coil (to prevent damage to the core / coil in case of hard landing).

[0124] The pod is located in the hollow area below the mid-plate and above the bottom plate (the center of the four-axis). It is suspended or bolted to the mid-plate and has a built-in battery pack. The battery is placed in the center to reduce the center of gravity offset during flight and improve attitude stability.

[0125] The brushless motor and motor mount are located in the motor mount at the end of the wing arm. The four motors correspond to the four blades. The motors are fixed to the motor mount with screws. The motor mount and the wing arm are integrally formed / bolted. The motor wires are connected to the electric speed controller on the middle plate through the internal wire groove of the wing arm. The brushless motor converts the AC power output by the electric speed controller into mechanical energy to drive the blades to rotate (core power source). The motor mount mechanically fixes the motor, absorbs rotational vibration, and protects the wing arm structure. Heat dissipation holes are reserved inside to assist in cooling the motor.

[0126] The propeller blades are located on the output shaft of the brushless motor and use "two pairs of forward and reverse propellers" (to offset the motor torque and prevent the fuselage from spinning). They are fixed to the motor shaft through propeller mount clips / threads. When they rotate, they push the air and generate upward pulling force. The flight control changes the propeller blade pulling force difference by adjusting the motor speed to achieve roll, pitch, and yaw movements.

[0127] The PIX4 flight controller is located in the center of the top plate and is the "control core" of the drone. It has a built-in gyroscope, accelerometer, magnetometer, and barometer (to monitor attitude and altitude). It is connected to the electronic speed controller (to control the motor), the receiving circuit board (to monitor the charging voltage), and the Bluetooth module (to send and receive commands) through PWM / serial port. It calculates sensor data in real time, outputs motor speed commands, and maintains stable flight.

[0128] The Bluetooth module is located near the top plate or mid-board, close to the flight controller, and communicates with the flight controller through the UART / SPI interface. The power supply is provided by the flight controller or mid-board power module to achieve charging interaction.

[0129] The receiving coil is located below the base plate and is symmetrically distributed. The wires are connected to the receiving end circuit board. A magnetic core is integrated under the coil to couple AC power from the transmitting end through electromagnetic induction.

[0130] The electromagnetic shielding sheet is located below the receiving coil (or attached to the back of the coil). It is made of ferrite and is pasted or fixed to the bottom plate with screws. It fits tightly with the coil to achieve magnetic circuit guidance and anti-interference protection.

[0131] The receiving end circuit board is located below the middle plate or above the bottom plate, close to the receiving coil, to achieve rectification, filtering and status monitoring.

[0132] The DC-DC current converter is located near the receiving circuit board, close to the pod, and converts the unstable induced voltage into the constant voltage / constant current charging voltage required by the battery. It also provides overvoltage and overcurrent protection to prevent battery overcharging and cooperates with the flight control to implement the "full charge stop" logic.

[0133] In one exemplary embodiment, an X-shaped quadrotor frame is chosen for its greater stability, improved operability, and ease of installation of other electronic equipment. The motors are mounted on the four arms, and the control system, Bluetooth auxiliary identification system, battery, and pod are fixed on the upper and lower sides of the square center plate, respectively. Each system is connected and fixed using a layered structure. The electrical system mainly consists of a PIX4 flight control system board, an LCC-S resonant PCB board, a DC-DC circuit converter PCB board, and a Bluetooth module.

[0134] Among them, the PIX4 flight control system board is the "brain" of the drone, coordinating flight control and charging logic. Through built-in sensors such as gyroscopes and accelerometers, it calculates attitude data, outputs motor speed commands, receives battery voltage feedback from the DC-DC converter, determines whether it has reached the "full charge set value", receives the voltage signal from the LCC-S resonant board, determines the current coil coupling strength (screening the optimal transmitting coil), and sends "coil access / exit" commands to the transmitter through the Bluetooth module to achieve closed-loop control of the charging process.

[0135] The LCC-S resonant PCB board is the "energy optimization hub" of the wireless charging receiver, achieving efficient coupling of high-frequency electrical energy. It adopts the LCC topology (inductor-capacitor-inductor series-parallel resonance) to make the circuit operate at the resonant frequency, achieving zero voltage switching (ZVS), and significantly reducing switching losses (improving charging efficiency).

[0136] The DC-DC circuit converter PCB board is the "voltage regulator" of the charging system. It adapts to the battery charging requirements and converts the unstable DC voltage output by the LCC resonant board into the constant voltage / constant current required by the battery.

[0137] The Bluetooth module serves as a wireless bridge between the flight controller and the outside world, enabling command and status exchange. It receives battery status (voltage, charge) and coil switching commands from the flight controller and wirelessly transmits them to the transmitter or ground. The flight controller and Bluetooth module are powered by a regulated DC-DC converter. The LCC resonant board and DC-DC converter are primarily powered by the inductive energy of the receiving coil. If the inductive energy is insufficient, it is supplemented by the system's backup power supply.

[0138] In magnetically coupled resonant wireless charging technology, the transmitting circuit and the receiving circuit need to maintain the same resonant operating frequency, thereby creating an energy transmission path between the coils by virtue of the electromagnetic induction effect between the coils. Under the action of the loosely coupled magnetic field between the coils, the magnetic effect caused by the high-frequency alternating current on the primary side generates an induced electromotive force on the secondary side. By properly laying out the resonant compensation capacitor, rectifier circuit and filter circuit at the back end, wireless transmission of electric energy can be achieved. The wireless charging system block diagram of this process is shown below. Figure 1 shown.

[0139] In this embodiment, the wireless charging system can be equivalent to a dual-excitation wireless power transmission system, whose main configuration is two energy transmission channels consisting of a primary transmitting coil and a compensation coil and an energy receiving channel on the secondary side. The system structure diagram is shown in FIG. Figure 10As shown in the figure, the transmitting coil and the compensation inductor of the primary circuit share a common transmitting circuit topology, consisting of a DC power supply, a high-frequency inverter bridge, a resonant compensation circuit, a transmitting coil, and a compensation inductor. The secondary circuit adopts a series topology, primarily consisting of a secondary coil, a compensation capacitor, a rectifier circuit, a filter capacitor, and an output load. When the system is in rated operation, the DC power supply is converted into a high-frequency AC power supply by the high-frequency inverter circuit. Passing through the resonant circuit, the high-frequency AC current fully participates in the resonance process, flowing through the primary transmitting coil and the compensation inductor. Due to the electromagnetic effect of the current, a phase-lagged high-frequency AC voltage is induced in the secondary receiving coil. After passing through the secondary resonant circuit and full-bridge rectification, a DC current is output. Finally, a DC-DC converter circuit is formed by connecting filter capacitors in parallel across the load, converting the output DC current into a DC current within a suitable range to power the load.

[0140] Due to the large air gap between the primary and secondary sides of the drone wireless power transmission system, there is a large leakage inductance, making it a typical loosely coupled mechanism. This results in a large amount of reactive power between the systems. To reduce this reactive power and improve the transmission efficiency of the power transmission system, a series of resonant compensation components, such as resonant capacitors and resonant inductors, are added to the primary and secondary circuits to form a resonant circuit with the coupling mechanism. When the system is fully resonant by adjusting the parameters of the resonant components, the circuit becomes purely resistive, converting most of the input power into active power, thereby increasing the system's power factor. The resonant circuit also effectively reduces the current and voltage stresses of the components and avoids electromagnetic interference (EMI), thereby improving system efficiency.

[0141] Figure 10 The circuit is divided into the power main circuit and the control auxiliary circuit. The power main circuit includes full-bridge inverter, resonant compensation, rectifier filtering and buck step-down. The control auxiliary circuit includes the transmitter signal generator, voltage sampling and current sampling. Among them, the full-bridge inverter circuit includes Q1~Q4 (MOSFET), input power supply U in , Q1 / Q3, Q2 / Q4 are connected in series and then in parallel to form an H bridge, U in Connect the two ends of the bridge and the midpoint to the resonant compensation circuit, and the DC U in Inverted into high frequency AC to provide excitation for the resonant circuit. The resonant compensation circuit includes L p (transmitting coil), C p , C0 (transmitter resonant capacitor), L s (receiving coil), C s (receiving end resonant capacitance), mutual inductance M p0 (Internal coupling at the transmitter), M ps (transmitter-receiver coil mutual inductance), transmitter (L p / / C p / / C0) is connected to the full-bridge inverter output, the receiving end (L s C s ) is connected to the rectifier filter circuit, which realizes wireless power transmission through resonance matching, reduces reactive power loss and improves transmission efficiency; and uses resonance characteristics (such as series / parallel resonance) to achieve constant current / constant voltage output. The rectifier filter circuit includes D1~D4 (full bridge rectifier diodes), C r (filter capacitor), the full-bridge rectifier input is connected to the resonant circuit output, and the output is connected to the C r After filtering, it is connected to the BUCK step-down circuit. The high-frequency AC power at the receiving end is rectified into DC power. r Smooth voltage ripple. BUCK step-down circuit includes Q5 (MOSFET switch), inductor (energy storage), C d (output filter), D5 (freewheeling diode), the rectifier filter output is connected to Q5 and the inductor, D5 is connected in parallel at both ends of the inductor, C d Connect to the output terminal, control the duty cycle of Q5 through PWM, and step down the rectified voltage to U d ; Inductor energy storage + freewheeling diode D5 ensures current continuity, C d Further filtering. The transmitter signal generator includes a transformer (isolated power supply), a rectifier bridge (diode), a capacitor (filtering), a transistor (amplification), and a MOSFET driver. It outputs a drive signal to the gate of Q1 to Q4, generates a high-frequency drive pulse, controls the switching frequency of the full-bridge inverter (usually matching the resonant frequency), and realizes the inverter function. The voltage / current sampling circuit includes voltage sampling: an op amp (differential amplifier), a voltage divider resistor, an AD sampling interface, and collects U d Current sampling: sampling resistor (series circuit), switch tube, collect output current; voltage sampling connects to U d The current sampling is connected in series to the output circuit and is connected to the control chip (implicit). The voltage / current signal is fed back to the control terminal to achieve closed-loop regulation (such as stabilizing U d , overcurrent protection). Energy flow: U in → Full-bridge inverter (AC conversion) → Resonant circuit (wireless transmission) → Rectification and filtering (DC conversion) → Buck step-down (voltage regulation) → U d Control flow: Transmitter signal generator drives inverter → voltage / current sampling and feedback → drive signal adjustment (frequency / duty cycle) → stable output. Resonant compensation optimizes transmission efficiency, a "full-bridge + buck" design achieves wide-range voltage transformation, and sampling and feedback ensure stability, forming a complete wireless power transmission and voltage stabilization system.

[0142] By testing under complex environmental conditions such as high noise, strong interference, and heavy loads, the coil parameter analysis target of the dual-coupled magnetic coupling mechanism designed in this embodiment is simplified to a DDQ / quadrupole coil coupling mechanism. In this embodiment, the air gap between the primary and secondary sides is 100mm, the size of the primary quadrupole coil is 550×550mm, the size of the compensation inductor transmitting coil is 300×300mm, the size of the secondary quadrupole coil is 400×400mm, and the system voltage gain is set to 1. The magnetic field analysis of the designed dual-coupled magnetic coupling mechanism is performed using Comsol software. Specifically, after parametric modeling of the magnetic coupling mechanism, the parametric scanning function is used to perform parametric scanning on the primary side turns Pri_N∈[1, 20] and the secondary side turns Sec_N∈[1, 20], for a total of 400 scans. The coupling coefficient value range between the primary and secondary sides is concentrated between [0.35, 0.41]. Figure 11 As shown in the figure, the median and average of the 400 coupling coefficients obtained by scanning are both 0.37. In order to reasonably simplify the mechanism design process, the coupling coefficient of the magnetic coupling mechanism is taken as K0 = 0.37.

[0143] After selecting the initial coupling coefficient K0, this embodiment builds a dual-coupled LCC-S parameter model based on the matlab Simulink module for parameter sweep, and the resulting variable turns ratio efficiency distribution curve is as follows: Figure 12 As shown in the figure, except for the case where the number of turns of the primary and secondary coils is 1 turn, the leakage inductance between the coupling mechanism is large, resulting in a small mutual inductance, which causes low efficiency. In other cases, the average efficiency of the magnetic coupling mechanism is 82.7%, the median is 88.7%, and the maximum value can reach 93.6%. The corresponding number of turns of the primary and secondary sides is 5 turns on the primary side and 14 turns on the secondary side. Figure 13 The horizontal offset, output efficiency and output power distribution are shown.

[0144] like Figure 13 As shown, the efficiency is greater than 82% at a 150mm horizontal offset. This means that when the drone lands at a 150mm offset, the system efficiency remains at 82%-86%, while the efficiency of traditional single-coil solutions typically plummets to below 60% at the same offset. Therefore, compared to traditional single-coil solutions, this embodiment achieves a breakthrough in offset resistance.

[0145] The compensation topology related parameters of the dual-coupled LCC-S parameter model of this embodiment in the normal alignment condition are shown in Table 2.

[0146] Table 2 Compensation topology parameters of magnetic coupling mechanism

[0147] symbol name parameter <![CDATA[U in ]]> System input voltage 60V <![CDATA[U d ]]> System output voltage 59.93V <![CDATA[U AB ]]> Inverter output voltage 54.02V <![CDATA[U ab ]]> Rectifier input voltage 53.96V <![CDATA[P out ]]> System rated output power 300W <![CDATA[L0]]> Primary compensation inductor 22.73uH <![CDATA[L p ]]> Primary coil inductance 45.23uH <![CDATA[L s ]]> Secondary coil inductance 76.08uH <![CDATA[C0]]> Primary compensation capacitor 306nF <![CDATA[C p ]]> Primary coil compensation capacitor 103nF <![CDATA[C s ]]> Secondary coil compensation capacitor 46nF k Primary-secondary coupling coefficient 0.37

[0148] In summary, through parametric modeling and simulation to achieve parameter optimization analysis of the magnetic coupling mechanism, it is found that, except for the case where the leakage inductance has a large impact on efficiency when the primary and secondary sides have 1 turn, when the number of turns of the primary coil is 5 turns and the number of turns of the secondary side is 14 turns, the positive efficiency of the magnetic coupling mechanism is as high as 93.6%, which meets the requirements of wireless power transmission of drones in complex environmental conditions.

[0149] Table 3 shows the performance comparison experimental results of the technical solution of the present application and the traditional single-coil solution.

[0150] Table 3 Performance comparison experimental results of the technical solution of this application and the traditional single-coil solution

[0151]

[0152]

[0153] It can be seen intuitively from Table 3 that under complex environmental conditions such as high noise, strong interference, and heavy loads, the technical solution of the present application maintains an efficiency of more than 82% at a 150mm offset through dual-channel magnetic field complementarity and dynamic coil selection mechanism. Compared with the traditional single-coil solution, the efficiency of the technical solution of the present application is improved by more than 36%, and the peak efficiency reaches 93.6%, which can provide highly robust wireless charging support for drone inspections in complex environments such as high noise, strong interference, and heavy loads.

[0154] In traditional drone wireless charging systems, in complex environments such as high noise, strong interference, and heavy loads, the spatial offset between the magnetic coupling mechanisms causes strong fluctuations and poor stability in wireless power transmission. This embodiment designs a magnetic coupling mechanism with strong anti-offset characteristics based on the input and output characteristics of the magnetic coupling mechanism. To address the problem of system oscillation caused by system fluctuations that may occur in actual application scenarios, resulting in low system safety and stability, this embodiment designs a stable and efficient multi-excitation and multi-receiving circuit topology. Power is transmitted through a shared rectifier circuit, reducing the number of components and thus reducing costs, while achieving a circuit topology structure with zero-phase input and constant current output to achieve stable and efficient operation of the wireless charging system.

[0155] In an exemplary embodiment, Figure 14 As shown, a wireless charging method for an inspection drone based on a magnetic coupling mechanism is provided. The wireless charging method for an inspection drone based on a magnetic coupling mechanism is applied to the aforementioned wireless charging system for an inspection drone based on a magnetic coupling mechanism. The wireless charging method for an inspection drone based on a magnetic coupling mechanism specifically includes the following steps:

[0156] S1: After the drone lands, the receiving end is used to activate each transmitting coil of the transmitting end in turn, and the rectifier output voltage of each transmitting coil is monitored in real time.

[0157] S2: comparing the rectified output voltage of each transmitting coil with a threshold value, and when the rectified output voltage is greater than the threshold value, determining that the current transmitting coil is a valid transmitting coil.

[0158] S3: Connect the effective transmitting coil to the full-bridge inverter circuit until the voltage of the drone battery reaches a set value.

[0159] S4: Control the current transmitting coil to exit the working state through wireless communication control instructions to complete autonomous charging.

[0160] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0161] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A wireless charging system for inspection drones based on a magnetic coupling mechanism, characterized in that: The inspection drone wireless charging system based on the magnetic coupling mechanism includes: Inverter circuit, used to convert direct current into high-frequency alternating current; A magnetic coupling mechanism includes a transmitter and a receiver, wherein the transmitter is integrated into the charging platform and the receiver is mounted on the bottom of the drone; the transmitter is used to generate a high-frequency magnetic field based on the high-frequency alternating current converted by the inverter circuit, and the receiver is used to couple with the high-frequency magnetic field to generate high-frequency alternating current; a rectifier circuit, configured to convert the high-frequency alternating current induced by the receiving end into direct current; Output variable load, connected to the drone battery, for outputting the DC power converted by the rectifier circuit to the drone battery, thereby realizing wireless charging of the drone from the charging platform; The magnetic coupling mechanism adopts a dual-coupled magnetic integrated coil structure, and the dual-coupled magnetic integrated coil structure includes: The primary quadrupole transmitting coil is symmetrically distributed in the X and Y directions and is used to generate the high-frequency magnetic field uniformly distributed in the XY plane; A primary compensation transmitting coil, located at the center of the primary quadrupole transmitting coil, is used to adjust the magnetic field distribution in the central area of ​​the primary quadrupole transmitting coil; a secondary quadrupole receiving coil, spatially aligned with the primary quadrupole transmitting coil, and configured to couple with the high-frequency magnetic field to generate high-frequency alternating current; The resonant compensation capacitor is connected to the primary quadrupole transmitting coil and the secondary quadrupole receiving coil respectively, and is used to provide a resonant compensation function for the coupling between the primary quadrupole transmitting coil and the secondary quadrupole receiving coil.

2. The inspection drone wireless charging system based on magnetic coupling mechanism according to claim 1 is characterized in that: The magnetic coupling mechanism satisfies: The primary quadrupole transmitting coil and the secondary quadrupole receiving coil form a first energy transmission channel; The primary compensation transmitting coil and the secondary quadrupole receiving coil form a second energy transmission channel; When the drone deviates during landing, the magnetic field distributions of the first energy transmission channel and the second energy transmission channel complement each other to maintain a stable coupling coefficient.

3. The inspection drone wireless charging system based on magnetic coupling mechanism according to claim 2 is characterized in that: The primary compensation transmitting coil is integrated inside the primary quadrupole transmitting coil, the primary compensation transmitting coil and the primary quadrupole transmitting coil share the same ferrite core, and the primary compensation transmitting coil and the primary quadrupole transmitting coil are decoupled when working facing each other.

4. The inspection drone wireless charging system based on magnetic coupling mechanism according to claim 1 is characterized in that: The inspection drone wireless charging system based on the magnetic coupling mechanism adopts a multi-excitation multi-receiving circuit topology, which includes the inverter circuit, the transmitting end and the receiving end. The receiving end dynamically controls the access of the transmitting coil in the transmitting end through voltage feedback.

5. The inspection drone wireless charging system based on magnetic coupling mechanism according to claim 4 is characterized in that: The multi-excitation multi-receiving circuit topology is implemented as follows: The transmitting end includes a plurality of independent transmitting coils, the receiving end includes a receiving end detection circuit, and the inverter circuit includes a full-bridge inverter circuit; After the drone lands, the receiving end detection circuit activates each of the transmitting coils in turn and detects the rectified output voltage of each transmitting coil in real time; When the rectifier output voltage is greater than a threshold, it is determined that the current transmitting coil is valid and is connected to the full-bridge inverter circuit; When the voltage of the drone battery reaches a set value, the current transmitting coil is controlled to exit the working state through wireless communication control instructions.

6. The inspection drone wireless charging system based on magnetic coupling mechanism according to claim 5 is characterized in that: The receiving end detection circuit includes: A diode rectifier module is used to convert the induced voltage into a DC signal; a voltage comparator, configured to compare the DC signal with a threshold value, determine whether the transmitting coil is currently within an effective receiving range of the receiving coil of the receiving end, and obtain a determination result; The single chip microcomputer is used to wirelessly transmit the judgment result to the transmitting end.

7. The inspection drone wireless charging system based on magnetic coupling mechanism according to claim 4 is characterized in that: The multi-excitation multi-receiving circuit topology adopts an LCC-S compensation topology structure; The LCC-S compensation topology structure includes a power main circuit and a control auxiliary circuit connected to each other; The control auxiliary circuit is used to adjust the inverter frequency of the power main circuit in real time by means of voltage and / or current sampling to achieve zero phase angle input and constant current output.

8. The inspection drone wireless charging system based on magnetic coupling mechanism according to claim 7 is characterized in that: The power main circuit includes a full-bridge inverter circuit, a resonance compensation circuit, a rectifier filter circuit and a BUCK step-down circuit which are connected in sequence.

9. The inspection drone wireless charging system based on magnetic coupling mechanism according to claim 8, characterized in that: The control auxiliary circuit includes a transmitter signal generator, a voltage sampling circuit, and a current sampling circuit connected in sequence; the transmitter signal generator is also connected to the full-bridge inverter circuit, and the voltage sampling circuit and the current sampling circuit are also connected to the BUCK step-down circuit.

10. A wireless charging method for an inspection drone based on a magnetic coupling mechanism, characterized in that: The wireless charging method for an inspection drone based on a magnetic coupling mechanism is applied to the wireless charging system for an inspection drone based on a magnetic coupling mechanism according to any one of claims 1 to 9. The wireless charging method for an inspection drone based on a magnetic coupling mechanism includes: After the drone lands, the receiving end is used to activate each transmitting coil of the transmitting end in turn, and the rectifier output voltage of each transmitting coil is monitored in real time; comparing the rectified output voltage of each transmitting coil with a threshold, and determining that the current transmitting coil is a valid transmitting coil when the rectified output voltage is greater than the threshold; Connect the effective transmitting coil to the full-bridge inverter circuit until the voltage of the drone battery reaches the set value; The wireless communication control instruction is used to control the current transmitting coil to exit the working state and complete autonomous charging.

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