Anti-offset unmanned aerial vehicle wireless charging device and method based on dual load identification

Abstract

The invention provides an anti-offset unmanned aerial vehicle wireless charging device and method based on dual load identification, and belongs to the technical field of unmanned aerial vehicle charging, the charging device comprises a charging module which comprises a transmitting coil and a receiving coil arranged on a to-be-charged unmanned aerial vehicle and is used for establishing an electromagnetic relationship between the wireless charging device and the to-be-charged unmanned aerial vehicle, wireless energy transmission is carried out; the identification control module is used for identifying a pressure triggering area to determine a landing area of the to-be-charged unmanned aerial vehicle, and controlling access of the transmitting coil in combination with a communication state identification result; the power module is used for providing working voltage for the charging module and the identification control module, the charging method is applied to the charging device, and charging control over the unmanned aerial vehicle to be charged is achieved. According to the invention, the position determination and identity verification of the unmanned aerial vehicle load can be realized through the pressure triggering area and the communication state identification, the access of the transmitting coil is dynamically controlled, the misjudgment of charging starting or position offset charging is avoided, and the invalid energy consumption and energy waste are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle charging, in particular to an anti-deviation unmanned aerial vehicle wireless charging device and method based on double load identification. BACKGROUND

[0002] With the deep application of unmanned aerial vehicles in the fields of power inspection, environmental monitoring, logistics distribution, etc., insufficient endurance has become a key bottleneck restricting continuous operation. The traditional manual battery replacement method is not only inefficient, but also difficult to adapt to complex scenarios such as remote areas and high-altitude operations. Therefore, non-contact charging technology has gradually become the core development direction of unmanned aerial vehicle automation energy supply due to its advantage of not needing physical contact docking. Non-contact charging technology mainly relies on electromagnetic induction principle to realize energy transmission, and wireless energy transmission can be realized through near-field electromagnetic induction of the transmitting coil and the receiving coil.

[0003] However, in actual application, in order to ensure that the unmanned aerial vehicle can be quickly started when it is close, the charging device is usually kept in a constant power-on standby state. When the transmitting coil is not loaded, the magnetic field energy generated by the transmitting coil cannot be absorbed by the receiving coil, and most of the energy will be converted into heat energy of the coil itself, which will cause a lot of energy waste and affect the operation safety of the charging device.

[0004] Therefore, most of the existing unmanned aerial vehicle wireless charging devices are provided with a load identification function, which stops the operation of the charging device when there is no load, so as to effectively avoid the continuous waste of the transmitting coil in the no-load state and reduce standby energy consumption. However, the existing load identification function can only determine whether the load exists, but cannot accurately identify the identity and specific position of the load, and cannot adapt to the charging control of the unmanned aerial vehicle in complex scenarios. When metal foreign objects or non-compatible loads are close, or the unmanned aerial vehicle lands in a deviated position, the wireless charging device will be normally started, which will cause the problem of increased invalid energy consumption and energy waste. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art that the load identification function of the unmanned aerial vehicle charging device cannot accurately identify the identity and specific position of the load, and cannot cope with the charging control of the unmanned aerial vehicle in complex scenarios. An anti-deviation unmanned aerial vehicle wireless charging device and method based on double load identification are provided, which realizes accurate position determination and identity verification of the unmanned aerial vehicle load through a double identification mechanism of pressure trigger area and communication state identification, and dynamically controls the access of the transmitting coil to avoid misjudgment of starting charging or charging in a deviated position, thereby reducing the invalid energy consumption and energy waste of the wireless charging device.

[0006] The present application is achieved by the following technical solutions: The anti-deviation unmanned aerial vehicle wireless charging device based on double load identification comprises: The charging module comprises a transmitting coil and a receiving coil arranged on the unmanned aerial vehicle to be charged, and is used for establishing an electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged, and performing wireless energy transmission; The identification control module is connected with the transmitting coil, and is used for identifying a pressure trigger area to determine a landing area of the unmanned aerial vehicle to be charged, and controlling the transmitting coil to be connected in combination with a communication state identification result. The power supply module is connected with the charging module and the identification control module respectively, and is used for providing working voltages for the charging module and the identification control module.

[0007] The pressure trigger area is used for accurately determining the position of the unmanned aerial vehicle load, so that the relative position of the receiving coil of the unmanned aerial vehicle and the transmitting coil is determined, and the problem of offset charging caused by fuzzy position sensing is avoided. At the same time, the identity of the existing load is verified through the communication state identification, so as to avoid the interference of non-adaptive load or foreign matter, and to avoid invalid charging start caused by identity misjudgment. In combination with the identification results of the position determination and the load identity, the connection of the transmitting coil is dynamically controlled, unnecessary coil operation is reduced, energy consumption of non-adaptive load is reduced, energy consumption loss in the position offset or identity inconsistency scenario is avoided, and the energy utilization efficiency and operation stability of the wireless charging device are optimized.

[0008] Further, the transmitting coil comprises a first transmitting coil, a second transmitting coil and a third transmitting coil arranged in different areas, and a corresponding acrylic support plate is arranged between each transmitting coil.

[0009] Further, the identification control module comprises: A first pressure sensor arranged at the acrylic support plate between the first transmitting coil and the second transmitting coil; A second pressure sensor arranged at the acrylic support plate between the second transmitting coil and the third transmitting coil; A communication state identification unit comprising a Bluetooth transmitting end and a Bluetooth receiving end arranged on the unmanned aerial vehicle to be charged; A control unit connected with the first pressure sensor, the second pressure sensor and the communication state identification unit respectively, used for identifying a pressure trigger area according to the trigger conditions of the first pressure sensor and the second sensor, controlling the transmitting coil to be connected in combination with the communication state between the Bluetooth transmitting end and the Bluetooth receiving end, and selecting the connected transmitting coil.

[0010] Further, the identification control module further comprises: A switch control unit comprising a first control switch connected with the first transmitting coil, a second control switch connected with the second transmitting coil and a third control switch connected with the third transmitting coil, and used for selecting the connected transmitting coil by switching the on-off states of the control switches in response to the control unit.

[0011] Further, the charging module further comprises: a transmitting end resonance topology, configured to establish electromagnetic relationship with the unmanned aerial vehicle to be charged according to the transmitting coil accessed; a high-frequency inverter, an input end of the high-frequency inverter is connected with the power module, and output ends of the high-frequency inverter are respectively connected with the transmitting coil and the transmitting end resonance topology, and the high-frequency inverter is configured to provide excitation signals for the transmitting coil and the transmitting end resonance topology.

[0012] Further, the charging module further comprises: a receiving end resonance topology arranged on the unmanned aerial vehicle to be charged, connected with the receiving coil, and configured to establish electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged according to the receiving coil, the transmitting coil and the transmitting end resonance topology.

[0013] Further, the power module comprises: a direct-current input power supply, an input end of the direct-current input power supply is connected with a three-phase power frequency alternating current power supply through a power frequency alternating current interface, and an output end of the direct-current input power supply is connected with the charging module, and the direct-current input power supply is configured to provide working voltage for the charging module; a direct-current auxiliary power supply, an input end of the direct-current auxiliary power supply is connected with the three-phase power frequency alternating current power supply through the power frequency alternating current interface, and an output end of the direct-current auxiliary power supply is connected with the identification control module, and the direct-current auxiliary power supply is configured to provide working voltage for the identification control module.

[0014] The anti-deviation unmanned aerial vehicle wireless charging method based on double load identification is applied to the anti-deviation unmanned aerial vehicle wireless charging device, and comprises the following steps: real-time acquisition of sensing data of the first pressure sensor and the second pressure sensor, identification of the pressure trigger area according to the sensing data, and identification of the communication state with the unmanned aerial vehicle to be charged; when it is identified that the communication with the unmanned aerial vehicle to be charged is established and the pressure trigger area exists, selection of the transmitting coil according to the pressure trigger area; switching of the on-off state of each control switch, access of the selected transmitting coil, establishment of electromagnetic relationship between the selected transmitting coil and the unmanned aerial vehicle battery on the unmanned aerial vehicle to be charged, and wireless energy transmission; when it is identified that the communication with the unmanned aerial vehicle to be charged is not established or the pressure trigger area does not exist, keeping the transmitting coil disconnected.

[0015] Further, the selection of the transmitting coil according to the pressure trigger area comprises: when the sensing data of the first pressure sensor shows that the pressure trigger area exists and the sensing data of the second pressure sensor shows that the pressure trigger area does not exist, determining that the pressure trigger area is the region where the first transmitting coil is located, and selecting the first transmitting coil as the transmitting coil accessed; When the sensing data of the first pressure sensor and the sensing data of the second pressure sensor both show that the pressure trigger area exists, it is determined that the pressure trigger area is the area where the second transmitting coil is located, and the second transmitting coil is selected as the transmitting coil to be connected; When the sensing data of the second pressure sensor shows that the pressure trigger area exists, and the sensing data of the first pressure sensor shows that the pressure trigger area does not exist, it is determined that the pressure trigger area is the area where the third transmitting coil is located, and the third transmitting coil is selected as the transmitting coil to be connected.

[0016] Further, the switching of the on-off state of each control switch controls the connection of the selected transmitting coil, comprising: When the first transmitting coil is selected as the transmitting coil to be connected, the first control switch is controlled to be turned on, and the second control switch and the third control switch are controlled to be turned off, so as to control the first transmitting coil to be connected; When the second transmitting coil is selected as the transmitting coil to be connected, the second control switch is controlled to be turned on, and the first control switch and the third control switch are controlled to be turned off, so as to control the second transmitting coil to be connected; When the third transmitting coil is selected as the transmitting coil to be connected, the third control switch is controlled to be turned on, and the first control switch and the second control switch are controlled to be turned off, so as to control the third transmitting coil to be connected.

[0017] The present application has the following advantages: (1) The precise position of the unmanned aerial vehicle load is determined by the pressure trigger area, so that the relative position of the receiving coil of the unmanned aerial vehicle and the transmitting coil is determined, and the problem of deviation charging caused by ambiguous position sensing is avoided. At the same time, the identity of the existing load is verified through communication state identification to avoid interference of non-compatible loads or foreign objects, and to avoid invalid charging start caused by identity misjudgment. In combination with the position determination and the identification result of the load identity, the connection of the transmitting coil is dynamically controlled, unnecessary coil operation is reduced, energy consumption is reduced when there is no compatible load, energy consumption loss in the case of position deviation or identity inconsistency is avoided, and the energy utilization efficiency and operation stability of the wireless charging device are optimized; (2) The multi-zone transmitting coil and the partition pressure sensor are arranged to accurately position the specific area where the unmanned aerial vehicle to be charged lands through the sensing data difference of the two pressure sensors, and the appropriate transmitting coil is selected to be connected. This partition identification and coil switching method can effectively expand the fault tolerance range of the landing position of the unmanned aerial vehicle to be charged, and even if there is a certain deviation, the corresponding transmitting coil can be quickly matched to avoid the problem of sudden drop of coupling efficiency or interruption of charging caused by deviation of the traditional single coil; (3) Set an independent control switch for each transmitting coil, after the identity recognition through the Bluetooth communication and the determination of the pressure trigger area, open the control switch of the corresponding transmitting coil, which can not only solve the problem of false triggering caused by environmental interference, non-target approach or hovering, but also realize the precise control of energy transmission, reduce invalid energy consumption and energy waste. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic diagram of the present application; Figure 2 is a structural schematic diagram of the present application embodiment in which the acrylic support plate places the transmitting coil; Figure 3 is a result schematic diagram of the present application embodiment in which the acrylic support plate places the pressure sensor; Figure 4 is a structural schematic diagram of the present application embodiment in which the wireless charging device is composed of a coupler, a PCB and a drone to be charged; Figure 5 is a flow schematic diagram of the present application embodiment.

[0019] 1, charging module, 11, transmitting coil, 111, first transmitting coil, 112, second transmitting coil, 113, third transmitting coil, 114, acrylic support plate, 12, receiving coil, 13, transmitting end resonance topology, 14, high-frequency inverter, 15, receiving end resonance topology, 16, magnetic core, 2, identification control module, 21, first pressure sensor, 22, second pressure sensor, 23, communication state identification unit, 231, Bluetooth transmitting end, 232, Bluetooth receiving end, 24, control unit, 25, switch control unit, 251, first control switch, 252, second control switch, 253, third control switch, 254, protection device, 3, power module, 31, DC input power supply, 32, DC auxiliary power supply, 4, drone to be charged, 41, drone battery, 5, PCB, 51, upper layer PCB, 511, coil interface, 512, first input end, 513, first auxiliary end, 52, middle layer PCB, 521, power frequency AC interface, 522, second input end, 523, second auxiliary end, 53, lower layer PCB, 54, copper column, 6, coupler. DETAILED DESCRIPTION

[0020] The present application will be further described below in combination with the drawings and embodiments.

[0021] Embodiment: Anti-deviation drone wireless charging device based on double load identification, as shown in Figure 1 , comprising: The charging module 1 comprises a transmitting coil 11 and a receiving coil 12 arranged on the unmanned aerial vehicle 4 to be charged, for establishing electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged, and performing wireless energy transmission; The identification control module 2 is connected with the transmitting coil and is used for identifying the pressure trigger area to determine the landing area of the unmanned aerial vehicle to be charged, and controlling the transmitting coil to access in combination with the communication state identification result; The power supply module 3 is connected with the charging module and the identification control module respectively, and is used for providing working voltage for the charging module and the identification control module.

[0022] The charging module can realize energy transmission between the wireless charging device and the unmanned aerial vehicle through the cooperation of the transmitting coil and the receiving coil on the unmanned aerial vehicle to be charged. When the transmitting coil is connected with power, an alternating magnetic field is generated, and the receiving coil on the unmanned aerial vehicle obtains energy from the alternating magnetic field through electromagnetic induction or magnetic resonance coupling principle, thereby realizing wireless transmission of electric energy from the charging device to the unmanned aerial vehicle. This non-contact energy transmission mode can optimize the dependence of traditional contact charging on mechanical docking, avoid charging failures caused by oxidation and wear of contacts, and realize automatic charging of the unmanned aerial vehicle in complex outdoor environments.

[0023] The transmitting coil comprises a first transmitting coil 111, a second transmitting coil 112 and a third transmitting coil 113 arranged in different areas, and a corresponding acrylic support plate 114 is arranged between each transmitting coil.

[0024] The transmitting coil is arranged in different areas to increase the effective charging range of the wireless charging device. Even if there is a certain position deviation when the unmanned aerial vehicle to be charged lands, as long as it is still in the area covered by the three transmitting coils, it can access the corresponding coil through the subsequent judgment of the identification control module, thereby improving the fault tolerance of the charging module to the landing position of the unmanned aerial vehicle. In the embodiment, the transmitting coil is a DD coil placed on the magnetic core 16 to improve the transmission efficiency.

[0025] An acrylic support plate is arranged between the transmitting coils to physically isolate the three transmitting coils through the insulating acrylic support plate, avoid mutual interference of the magnetic fields generated by adjacent transmitting coils, and ensure the stability of the magnetic field when each transmitting coil operates independently.

[0026] At the same time, the acrylic support plate can also provide a flat and stable mounting carrier for the transmitting coil, and isolate dust, rainwater and other factors in the outdoor environment from directly eroding the transmitting coil, thereby prolonging the service life of the transmitting coil.

[0027] In order to further improve the energy transmission efficiency and electromagnetic coupling stability of the charging module, the charging module further comprises: The transmitting end resonance topology 13 is used to establish electromagnetic relationship between the transmitting coil and the unmanned aerial vehicle to be charged according to the access of the transmitting coil; The high-frequency inverter 14 is connected with the power module at the input end, and connected with the transmitting coil and the transmitting end resonance topology at the output end, respectively, for providing excitation signals for the transmitting coil and the transmitting end resonance topology.

[0028] The receiving end resonance topology 15 arranged on the unmanned aerial vehicle to be charged is connected with the receiving coil, and used to establish electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged according to the receiving coil and the transmitting coil and the transmitting end resonance topology.

[0029] The transmitting end resonance topology cooperates with the accessed transmitting coil, and utilizes the resonance characteristics of the LC resonance circuit composed of the coil inductance and the compensation capacitor, so that the transmitting coil generates stronger and more focused alternating magnetic field at a specific frequency. When the frequency of the excitation signal provided by the high-frequency inverter is consistent with the inherent resonance frequency of the transmitting end resonance topology, the topology presents pure resistance, the inductive reactance and the capacitive reactance are offset, at this time, the magnetic field energy loss of the transmitting coil output is minimized, and the magnetic field strength is significantly enhanced, which can provide guarantee for subsequent efficient coupling with the receiving end.

[0030] The receiving end resonance topology arranged on the unmanned aerial vehicle is connected with the receiving coil to form a receiving side resonance unit, and the inherent resonance frequency thereof is consistent with that of the transmitting end resonance topology. Through the principle of magnetic resonance coupling, the receiving side resonance unit can maximize the energy obtained from the alternating magnetic field of the transmitting end, and avoid the loss of magnetic field energy due to frequency mismatch.

[0031] The high-frequency inverter in the embodiment specifically adopts a full-bridge inverter structure, which can provide a precise and controllable energy excitation source for the charging module. The input end of the high-frequency inverter is connected with the power module to convert the direct current output by the power module into high-frequency alternating current. The output end is connected with the transmitting coil and the transmitting end resonance topology, respectively, for providing the high-frequency current required for the transmitting coil to generate alternating magnetic field, and providing the high-frequency electrical energy required for the transmitting end resonance topology to maintain the resonance state. The output frequency of the high-frequency inverter precisely matches the inherent resonance frequency of the transmitting end resonance topology, so as to ensure that the transmitting end resonance topology can stably enter the resonance state.

[0032] The high-frequency inverter also has the adjustment capability of output power and frequency, and can dynamically adjust the amplitude and frequency of the output high-frequency alternating current according to the instructions of the subsequent identification control module, such as adjusting the power according to the charging stage of the unmanned aerial vehicle battery, so that the charging module can adapt to the full-stage charging demand of the unmanned aerial vehicle from constant current fast charging to constant voltage trickle charging, and avoid the problems of battery overcharging or reduced charging efficiency caused by improper power adaptation.

[0033] Meanwhile, in order to avoid the false touch charging interference caused by non-adaptive load or metal foreign matter, a recognition control module is further arranged to determine the landing position of the unmanned aerial vehicle to be charged by recognizing the pressure trigger area, so as to avoid the invalid charging start caused by the non-landing or landing position deviation of the unmanned aerial vehicle. Meanwhile, the identity of the unmanned aerial vehicle is verified in combination with the communication state recognition result, so as to exclude the influence of interference factors such as non-adaptive load or metal foreign matter. And only when the two recognition conditions are met, the transmitting coil is accessed, so as to ensure that the transmitting coil only operates when there is an adaptive load and the position is accurately positioned, avoid the false start charging or position deviation charging, and reduce the invalid energy consumption and energy waste of the wireless charging device.

[0034] Specifically, the recognition control module comprises: a first pressure sensor 21 arranged at the acrylic support plate between the first transmitting coil and the second transmitting coil; a second pressure sensor 22 arranged at the acrylic support plate between the second transmitting coil and the third transmitting coil; a communication state recognition unit 23 comprising a Bluetooth transmitting end 231 and a Bluetooth receiving end 232 arranged on the unmanned aerial vehicle to be charged; a control unit 24 connected with the first pressure sensor, the second pressure sensor and the communication state recognition unit respectively, for recognizing the pressure trigger area according to the trigger condition of the first pressure sensor and the second sensor, controlling the transmitting coil to be accessed in combination with the communication state between the Bluetooth transmitting end and the Bluetooth receiving end, and selecting the accessed transmitting coil.

[0035] Based on the sub-area arrangement of the transmitting coil, the installation positions of the first pressure sensor and the second sensor are further arranged to directly sense the pressure distribution when the unmanned aerial vehicle to be charged lands.

[0036] When the unmanned aerial vehicle lands in different transmitting coil areas, the weight of the machine body will cause differential pressure trigger on the adjacent support plate. If it lands in the first transmitting coil area, only the first pressure sensor close to the first coil will be triggered. If it lands in the second transmitting coil area, the first and second pressure sensors will be triggered at the same time. If it lands in the third transmitting coil area, only the second pressure sensor will be triggered. Through the signal difference of single trigger or double trigger, the landing position of the unmanned aerial vehicle to be charged can be accurately mapped to the corresponding coil area, which can effectively avoid the fuzzy positioning problem of the unmanned aerial vehicle to be charged, and provide accurate position basis for subsequent coil selection.

[0037] Meanwhile, the insulating property of the acrylic support plate can also protect the pressure sensor from the magnetic field interference of the coil, ensure the stability and accuracy of the pressure signal, and avoid the positioning misjudgment caused by the magnetic field interference.

[0038] Considering that only the state of whether there is a load can be identified through the pressure sensor, it is difficult to exclude the interference of non-adaptive load or foreign matter. Therefore, a communication state identification unit is arranged to realize the legality verification of the identity of the UAV through the bidirectional communication architecture of the Bluetooth transmitting end on the charging device side and the Bluetooth receiving end on the UAV side. When the UAV enters the charging area, the Bluetooth transmitting end will actively send an identity verification request signal. Only after passing the identity verification, the Bluetooth transmitting end and the Bluetooth receiving end on the UAV side will establish a communication connection. Therefore, the control unit can further identify whether the current load is an adaptive load through the communication state of the Bluetooth transmitting end, so as to avoid invalid charging start caused by identity misjudgment.

[0039] The control unit in the embodiment is a microprocessor, MCU or the like having data processing capability, which can integrate the sensing data of the pressure sensor and the communication state of the Bluetooth transmitting end, realize the identification of the pressure trigger area and the communication state, and control the access of the transmitting coil according to the identification result. Only when the two conditions of clear position area and identity verification are met at the same time, the control unit will generate a coil access instruction. If only a single condition is met, such as a clear position but illegal identity or a legal identity but no position signal, the transmitting coil remains in the closed state to avoid misstart.

[0040] In order to realize the accurate access of the transmitting coil, the identification control module further comprises: A switch control unit 25 comprising a first control switch 251 connected with the first transmitting coil, a second control switch 252 connected with the second transmitting coil, and a third control switch 253 connected with the third transmitting coil, which is used to select the accessed transmitting coil by switching the on-off state of each control switch in response to the control unit.

[0041] By configuring an independent control switch for each transmitting coil, fine switching of the access of the transmitting coil is realized. When the control unit determines that the UAV to be charged lands in one of the areas and passes the identity verification, it will send an opening instruction to the corresponding control switch and a closing instruction to the other control switches, thereby avoiding energy waste caused by simultaneous start of multiple coils and ensuring that electric energy is only delivered to the target coil. In the embodiment, the control switches are all circuit breakers. In order to ensure the safe operation of the circuit breakers, corresponding protection devices 254 such as overcurrent release are also arranged.

[0042] Specifically, the control unit can realize the acquisition of the sensing data of the corresponding pressure sensor and the identification of the communication state of the Bluetooth transmitting end through the corresponding GPIO port, and also realize the on-off control of the control switch through the corresponding GPIO port.

[0043] For example, when the first pressure sensor or the second pressure sensor senses a change in weight, it will convert the pressure signal into an electrical signal and transmit it to the corresponding GPIO port of the control unit, and the control unit can recognize the pressure trigger condition through the high and low level state of the corresponding GPIO port. Similarly, after the Bluetooth transmitter and the Bluetooth receiver of the drone to be charged establish communication, the level state of the corresponding GPIO port will change, and the control unit can also recognize the communication state of the Bluetooth transmitter through the corresponding level state.

[0044] When there is a need to control the transmitting coil, the control unit can also control the opening and closing of the corresponding control switch by setting the GPIO port of the corresponding control switch to high, thereby enabling the corresponding transmitting coil.

[0045] Since the charging module needs to match the charging power demand of the drone battery, it needs to withstand a large power during energy transmission, and the identification control module mainly relies on signal detection and data processing, so the energy consumption is low and the voltage stability requirement is higher. Therefore, the power module is set to provide different power supply for the energy consumption difference between the charging module and the identification control module, which can provide stable voltage for the charging module to meet the demand of large power transmission, ensure that the transmitting coil can generate a strong alternating magnetic field to realize efficient energy transmission, and also provide low ripple and high stable working voltage for the identification control module, avoid problems such as distortion of pressure detection signal and communication interruption caused by voltage fluctuation, and ensure the reliability of identification and control logic.

[0046] Specifically, the power module comprises: A DC input power supply 31, the input end is connected with a three-phase power frequency alternating current power supply through a power frequency alternating current interface, and the output end is connected with the charging module, used for providing working voltage for the charging module; A DC auxiliary power supply 32, the input end is connected with a three-phase power frequency alternating current power supply through a power frequency alternating current interface, and the output end is connected with the identification control module, used for providing working voltage for the identification control module.

[0047] In the embodiment, the DC input power supply adopts a 24V, 50W AC-DC power module, which can guarantee the wireless charging power demand. The DC amplitude power supply adopts a 5V, 15W AC-DC power module, which can realize power supply for electronic components such as the control unit.

[0048] And the elements such as the Bluetooth receiver arranged on the drone side are all powered by the drone battery 41 on the drone to be charged, and in order to realize safe charging, a battery charging protection board and a rectifier circuit need to be further arranged on the drone battery.

[0049] The module units included in the wireless charging device in the embodiment are arranged on the device main body and the side of the unmanned aerial vehicle, and the device main body mainly includes two parts, one part is a PCB board, and the other part is a coupler.

[0050] The high-frequency inverter and the transmitting-end resonance topology in the charging module, the control unit, the Bluetooth transmitting end of the communication state recognition unit and the switch control unit in the recognition control module, and the power module are arranged on the PCB board.

[0051] The PCB board includes an upper layer PCB 51, a middle layer PCB 52 and a lower layer PCB 53, and the PCBs in each layer are physically connected through copper columns 54.

[0052] The high-frequency inverter, the control unit, the Bluetooth transmitting end and the transmitting-end resonance topology are arranged on the upper layer PCB, the DC input power supply and the DC auxiliary power supply of the power module are arranged on the middle layer PCB, and the first control switch, the second control switch, the third control switch and the corresponding protection device of the switch control unit are arranged in the lower layer PCB.

[0053] The transmitting coils of the charging module and the pressure sensors in the recognition control module are arranged in the coupler. In order to realize data transmission and power supply between the module units, a coil interface 511, a first input end 512 and a first auxiliary end 513 are further arranged in the upper layer PCB, and a power frequency AC interface 521, a second input end 522 and a second auxiliary end 523 are arranged in the middle layer PCB.

[0054] The second input end is the output end of the DC input power supply, connected with the first input end of the upper layer PCB, serving as the DC input of the high-frequency inverter, and the second auxiliary end is the output end of the DC auxiliary power supply, connected with the first auxiliary end of the upper layer PCB, serving as the power input of each electronic element.

[0055] Each transmitting coil and each pressure sensor is arranged in the coupler, as shown in Figure 2 and Figure 3 The first transmitting coil, the second transmitting coil and the third transmitting coil are arranged on the magnetic core and placed on the acrylic support plate in sequence, and each pressure sensor is arranged on the other side of the acrylic support plate where the transmitting coil is located.

[0056] The Bluetooth receiving end, the receiving coil, the receiving-end resonance topology and the unmanned aerial vehicle battery are arranged on the side of the unmanned aerial vehicle to be charged. One end of the receiving coil is connected with the receiving-end resonance topology, the other end is connected with the unmanned aerial vehicle battery, and the receiving-end resonance topology is further connected with the unmanned aerial vehicle battery. The Bluetooth receiving end is connected in parallel on both sides of the unmanned aerial vehicle battery and is powered by the unmanned aerial vehicle battery.

[0057] The wireless charging device of this embodiment is composed of a coupler, a PCB board and a drone to be charged, and a structure diagram thereof is shown in FIG. 1. Figure 4

[0058] Another aspect of this embodiment also provides an anti-deviation drone wireless charging method based on dual load identification, as shown in FIG. 2, which comprises the following steps. Figure 5 Real-time acquisition of sensing data of the first pressure sensor and the second pressure sensor, identification of the pressure trigger area according to the sensing data, and identification of the communication state with the drone to be charged at the same time; When it is identified that the communication with the drone to be charged is established and the pressure trigger area exists, the transmitting coil is selected according to the pressure trigger area; Switching the on-off state of each control switch, controlling the selected transmitting coil to be connected, and establishing the electromagnetic relationship between the selected transmitting coil and the drone battery on the drone to be charged to perform wireless energy transmission; When it is identified that the communication with the drone to be charged is not established or the pressure trigger area does not exist, the transmitting coil is kept disconnected.

[0059] When the drone charging device is put into use, the device needs to be initialized first and connected to the power frequency three-phase alternating current. At this time, each control switch is in the non-closing state, each transmitting coil is in the open circuit state, and other elements such as the control unit and the Bluetooth transmitting end are in the normal working state.

[0060] In the process of flying the drone to be charged to the Bluetooth transmitting end connection coverage range and gradually landing to the effective coverage range of the transmitting coil, the control unit will monitor the sensing data of the first pressure sensor and the second pressure sensor in real time, and obtain the communication connection condition of the Bluetooth transmitting end. When the pressure sensor and the Bluetooth transmitting end are both triggered, the corresponding transmitting coil is selected and controlled to be connected, so as to realize the wireless charging of the drone to be charged. In other cases, the transmitting coil is kept disconnected to avoid energy loss caused by accidental charging.

[0061] In order to realize the accurate and efficient charging of the drone to be charged, the transmitting coil working according to the pressure trigger area is selected. Specifically, the selection of the transmitting coil according to the pressure trigger area comprises the following steps. When the sensing data of the first pressure sensor shows that the pressure trigger area exists and the sensing data of the second pressure sensor shows that the pressure trigger area does not exist, it is determined that the pressure trigger area is the area where the first transmitting coil is located, and the first transmitting coil is selected as the connected transmitting coil; When the sensing data of the first pressure sensor and the second pressure sensor both show that the pressure trigger area exists, it is determined that the pressure trigger area is the area where the second transmitting coil is located, and the second transmitting coil is selected as the connected transmitting coil; ​​When the sensing data of the second pressure sensor shows that there is a pressure trigger area, and the sensing data of the first pressure sensor shows that there is no pressure trigger area, it is determined that the pressure trigger area is the area where the third transmitting coil is located, and the third transmitting coil is selected as the transmitting coil to be connected.

[0062] According to the trigger state combination of the first pressure sensor and the second pressure sensor, complete coverage of the entire charging range is achieved, and no matter where the unmanned aerial vehicle to be charged lands, the corresponding transmitting coil can be obtained through the trigger combination of the corresponding pressure sensor, and the fault tolerance of the charging system to the landing position of the unmanned aerial vehicle is improved.

[0063] Moreover, the above-mentioned way of realizing area positioning and transmitting coil selection through the trigger state of the first pressure sensor and the second pressure sensor can also effectively improve the response speed of wireless charging start, and further improve the efficiency and stability of the entire wireless charging process.

[0064] After the transmitting coil to be connected is selected, the control unit further controls the corresponding control switch to be directed, so as to ensure that only the target transmitting coil is connected to the wireless charging loop, and the power supply of the non-target transmitting coil is cut off, thereby avoiding energy dispersion and interference caused by multiple coil parallel operation.

[0065] Specifically, the on-off state of each control switch is switched to control the selected transmitting coil to be connected, which comprises: When the first transmitting coil is selected as the transmitting coil to be connected, the first control switch is controlled to be turned on, and the second control switch and the third control switch are controlled to be turned off, so as to control the first transmitting coil to be connected; When the second transmitting coil is selected as the transmitting coil to be connected, the second control switch is controlled to be turned on, and the first control switch and the third control switch are controlled to be turned off, so as to control the second transmitting coil to be connected; When the third transmitting coil is selected as the transmitting coil to be connected, the third control switch is controlled to be turned on, and the first control switch and the second control switch are controlled to be turned off, so as to control the third transmitting coil to be connected.

[0066] Through the precise control of the above-mentioned independent control switch, each time the transmitting coil is connected, an independent power supply relationship is formed, energy dispersion and magnetic field interference caused by multiple coil parallel operation are avoided, the coupling efficiency of the target coil is ensured, and the charging efficiency and reliability of the wireless charging are further ensured.

[0067] The above-mentioned embodiments are only a preferred scheme of the present application, and do not limit the present application in any form. Other variants and modifications can be made without departing from the technical scheme recited in the claims.

Claims

1. Anti-drift unmanned aerial vehicle wireless charging device based on dual load recognition, characterized in that, The application relates to a wireless charging device for unmanned aerial vehicles. The wireless charging device comprises a charging module, an identification control module and a power supply module. The charging module comprises a transmitting coil and a receiving coil arranged on the unmanned aerial vehicle to be charged, and is used for establishing electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged and performing wireless energy transmission. The identification control module is connected with the transmitting coil and is used for identifying a pressure trigger area to determine a landing area of the unmanned aerial vehicle to be charged and controlling the transmitting coil to be connected in combination with a communication state identification result.

2. The anti-drift drone wireless charging device based on dual load recognition of claim 1, wherein, The power supply module is connected with the charging module and the identification control module respectively and is used for providing working voltage for the charging module and the identification control module.

3. The anti-drift drone wireless charging device based on dual load recognition of claim 2, wherein, The transmitting coil comprises a first transmitting coil, a second transmitting coil and a third transmitting coil arranged in different areas, and corresponding acrylic supporting plates are arranged between each transmitting coil. The identification control module comprises a first pressure sensor arranged at the acrylic supporting plate between the first transmitting coil and the second transmitting coil, a second pressure sensor arranged at the acrylic supporting plate between the second transmitting coil and the third transmitting coil, a communication state identification unit comprising a Bluetooth transmitting end and a Bluetooth receiving end arranged on the unmanned aerial vehicle to be charged, and a control unit connected with the first pressure sensor, the second pressure sensor and the communication state identification unit respectively and used for identifying a pressure trigger area according to trigger conditions of the first pressure sensor and the second sensor, controlling the transmitting coil to be connected in combination with a communication state between the Bluetooth transmitting end and the Bluetooth receiving end and selecting the transmitting coil to be connected. The identification control module further comprises a switch control unit comprising a first control switch connected with the first transmitting coil, a second control switch connected with the second transmitting coil and a third control switch connected with the third transmitting coil, which is used for selecting the transmitting coil to be connected by switching on / off states of the control switches in response to the control unit. The charging module further comprises a transmitting end resonance topology used for establishing electromagnetic relationship between the transmitting coil to be connected and the unmanned aerial vehicle to be charged, and a high-frequency inverter with an input end connected with the power supply module, an output end connected with the transmitting coil and the transmitting end resonance topology and used for providing an excitation signal for the transmitting coil and the transmitting end resonance topology. The charging module further comprises a receiving end resonance topology arranged on the unmanned aerial vehicle to be charged and connected with the receiving coil, which is used for establishing electromagnetic relationship between the wireless charging device and the unmanned aerial vehicle to be charged according to the receiving coil, the transmitting coil and the transmitting end resonance topology.

4. The anti-drift drone wireless charging device based on dual load recognition of claim 3, wherein, The power supply module comprises a direct-current input power supply with an input end connected with a three-phase power frequency alternating current power supply through a power frequency alternating current interface and an output end connected with the charging module and used for providing working voltage for the charging module, and a direct-current auxiliary power supply with an input end connected with the three-phase power frequency alternating current power supply through the power frequency alternating current interface and an output end connected with the identification control module and used for providing working voltage for the identification control module. The application further discloses a wireless charging method for unmanned aerial vehicles.

5. The anti-drift drone wireless charging device based on dual load recognition of claim 1, wherein, The method comprises the following steps: acquiring sensing data of the first pressure sensor and the second pressure sensor in real time, identifying a pressure trigger area according to the sensing data and identifying a communication state with the unmanned aerial vehicle to be charged simultaneously; when it is identified that the communication with the unmanned aerial vehicle to be charged is established and the pressure trigger area exists, selecting the transmitting coil according to the pressure trigger area; and when the communication with the unmanned aerial vehicle to be charged is established and the pressure trigger area does not exist, selecting the transmitting coil according to the communication state. ​ ​ 6. The anti-drift drone wireless charging device based on dual load recognition of claim 5, wherein, ​ ​ 7. The anti-drift drone wireless charging device based on dual load recognition of claim 1, wherein, ​ ​ ​ 8. The anti-drifting unmanned aerial vehicle wireless charging method based on dual load recognition, applied to the anti-drifting unmanned aerial vehicle wireless charging device of any one of claims 1 to 7, characterized in that, ​ ​ ​ Switching on and off states of the control switches controls the selected transmitting coil to be connected, and the selected transmitting coil establishes electromagnetic relationship with the UAV battery on the UAV to be charged to perform wireless energy transmission. When it is identified that the communication with the UAV to be charged is not established or the pressure trigger area does not exist, the transmitting coil is kept disconnected.

9. The anti-drift drone wireless charging method based on dual load recognition of claim 8, wherein, The selecting the transmitting coil according to the pressure trigger area comprises: When the sensing data of the first pressure sensor shows that the pressure trigger area exists and the sensing data of the second pressure sensor shows that the pressure trigger area does not exist, it is determined that the pressure trigger area is the area where the first transmitting coil is located, and the first transmitting coil is selected as the connected transmitting coil. When the sensing data of the first pressure sensor and the second pressure sensor both show that the pressure trigger area exists, it is determined that the pressure trigger area is the area where the second transmitting coil is located, and the second transmitting coil is selected as the connected transmitting coil. When the sensing data of the second pressure sensor shows that the pressure trigger area exists and the sensing data of the first pressure sensor shows that the pressure trigger area does not exist, it is determined that the pressure trigger area is the area where the third transmitting coil is located, and the third transmitting coil is selected as the connected transmitting coil.

10. The anti-drift drone wireless charging method based on dual load recognition of claim 9, wherein, The switching on and off states of the control switches controls the selected transmitting coil to be connected, and the selected transmitting coil establishes electromagnetic relationship with the UAV battery on the UAV to be charged to perform wireless energy transmission. When the first transmitting coil is selected as the connected transmitting coil, the first control switch is controlled to be turned on, and the second control switch and the third control switch are controlled to be turned off, and the first transmitting coil is controlled to be connected. When the second transmitting coil is selected as the connected transmitting coil, the second control switch is controlled to be turned on, and the first control switch and the third control switch are controlled to be turned off, and the second transmitting coil is controlled to be connected. When the third transmitting coil is selected as the connected transmitting coil, the third control switch is controlled to be turned on, and the first control switch and the second control switch are controlled to be turned off, and the third transmitting coil is controlled to be connected.

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