Electromagnetic induction type power transmission line energy feedback charging system and method for unmanned aerial vehicle

Abstract

The invention relates to an electromagnetic induction type power transmission line energy feedback charging system and method for an unmanned aerial vehicle, and the system is characterized in that the system comprises a mounting and actuating mechanism, a current transformer, and an electric energy conversion module; the mounting and actuating mechanism is fixedly arranged on the unmanned aerial vehicle, the current transformer is arranged in the mounting and actuating mechanism, and the mounting and actuating mechanism is used for capturing the power transmission line, actuating and locking in the process that the unmanned aerial vehicle ascends to approach the power transmission line, so that the unmanned aerial vehicle is suspended on the power transmission line; the current transformer is used for inducing an alternating current by using an alternating magnetic field around a power transmission line and feeding back energy from the power transmission line; the mounting and actuating mechanism is provided with the electric energy conversion module, and the electric energy conversion module is used for converting alternating current into direct current for charging a battery of the unmanned aerial vehicle, so that the unmanned aerial vehicle can utilize existing power grid resources to supplement energy, and the problems that the unmanned aerial vehicle is poor in cruising ability and short in hang time are solved; and the application boundary of the unmanned aerial vehicle is greatly expanded.

Description

Technical Field

[0001] This invention relates to the field of drone charging technology, and in particular to an electromagnetic induction-type power transmission line charging system and method for drones. Background Technology

[0002] With breakthroughs in the aviation and electrical industries, drone technology has entered a golden age of rapid development. Drones are becoming increasingly diverse, their functions more powerful, and their applications constantly expanding. However, in the rapid development of drone technology, battery life has always been a major bottleneck. Due to the strict limitations imposed on the size and weight of drones, it is impossible to install large-volume, high-capacity batteries like ground vehicles. Currently, most drones use small, high-energy-density batteries to meet their basic flight needs, extending their operating time through multiple charging cycles and battery replacements.

[0003] However, in certain special usage scenarios, such as in the wild or mountainous areas, a stable power supply is often lacking, making rapid charging difficult and severely limiting the drone's endurance. Therefore, a new solution to the drone endurance problem is urgently needed. In these special scenarios, power transmission lines are a promising energy source, as they do not require additional wiring and can directly utilize existing power grid resources. Furthermore, power transmission lines have high energy density and high power output, providing ample power for drones.

[0004] Therefore, there is a need for an electromagnetic induction-based power line charging system for drones, which can effectively improve the drone's endurance in special scenarios, expand the drone's mission boundaries, reduce the drone's battery capacity and weight, and increase the drone's payload. Summary of the Invention

[0005] To address the aforementioned problems, the present invention aims to provide an electromagnetic induction-based power transmission line-fed charging system and method for unmanned aerial vehicles (UAVs), which can solve the problems of poor endurance and short flight time of UAVs due to the limitation of battery energy density in UAV applications.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: On the one hand, it provides an electromagnetic induction power transmission line feeding charging system for unmanned aerial vehicles, including a mounting and actuation mechanism, a current transformer and a power conversion module; The mounting and actuation mechanism is fixedly mounted on the UAV. The current transformer is installed inside the mounting and actuation mechanism. The mounting and actuation mechanism is used to capture the power line during the UAV's ascent and approach, actuate and lock, so that the UAV hangs on the power line. The current transformer is used to induce an alternating current using the alternating magnetic field around the power line, and feed energy from the power line. The mounting and actuation mechanism is equipped with the power conversion module, which is used to convert alternating current into direct current to charge the UAV's battery.

[0007] Furthermore, the current transformer includes a first semi-circular ring core and a second semi-circular ring core. The first semi-circular ring iron core is surrounded by a first winding, and the second semi-circular ring iron core is surrounded by a second winding, forming four wire ends. Two of the wire ends are short-circuited through a terminal block in the order of connecting the beginning and the end, and the other two wire ends are connected to the power conversion module as output terminals. When the transmission line passes through the closed first and second semi-circular iron cores, the power frequency alternating current transmitted inside will induce an alternating magnetic field in the first and second semi-circular iron cores. This alternating magnetic field intersects and links with the first and second windings, generating induced electromotive forces at both ends of the first and second windings respectively. After the first and second windings are connected end to end through the terminal block, the induced electromotive forces are superimposed. When the power conversion module is connected to the output terminal, an induced current is generated in the first and second windings, thereby realizing energy feeding from the transmission line.

[0008] Furthermore, the first and second semi-circular cores are made of silicon steel sheets, and the stacking direction of the silicon steel sheets is parallel to the axis of the ring.

[0009] Furthermore, the mounting and actuation mechanism includes a base plate, a current transformer housing with a capture structure, and a locking mechanism; The current transformer housing with the capture structure and the power conversion module are fixedly mounted on the base plate. The current transformer is installed inside the current transformer housing with the capture structure, and the locking mechanism is installed on the current transformer housing with the capture structure. As the drone ascends and approaches the power transmission line, the capture structure comes into contact with the power transmission line, is subjected to force, and thus actuates, thereby causing the first and second semi-circular iron cores to merge into a complete circular iron core; after the actuation process is completed, the locking mechanism locks the housing of the current transformer with the capture structure, so that it no longer generates relative movement.

[0010] Furthermore, the current transformer housing with the capture structure includes a left housing and a right housing, wherein both the left housing and the right housing are semi-circular ring structures adapted to the first semi-circular ring core and the second semi-circular ring core. Cantilever arms are provided on both the front and rear sides of the left and right shells. One end of each cantilever arm is located at one end of the semi-circular annular structure corresponding to the left or right shell. The other end of each cantilever arm extends outward along a chord line lower than the center of the semi-circular annular structure corresponding to the left or right shell and is suspended in the air. Two cantilever arms located on the same side of the left and right shells intersect on a plane perpendicular to the axis and are staggered front and rear on the axis to form a double X-shaped capture structure.

[0011] Furthermore, the locking mechanism includes a permanent magnet, an electromagnet, and an electromagnet control drive circuit, wherein an iron core is provided inside the electromagnet; The permanent magnet and electromagnet are respectively disposed on both sides of the housing of the current transformer with the capture structure; the electromagnet is electrically connected to the electromagnet control drive circuit, which is used to drive the electromagnet to generate the same polarity as the attraction surface of the permanent magnet when it is released from the locked state, so that the permanent magnet and the iron core inside the electromagnet generate a repulsive force, thereby realizing the release from the locked state and the popping open.

[0012] Furthermore, the electromagnet control drive circuit includes a first capacitor, a second capacitor, a third capacitor, a first relay, a second relay, a third relay, a fourth relay, a fifth relay, a sixth relay, a positive power supply terminal, a negative power supply terminal, a positive output terminal, and a negative output terminal; The first ports of the first, third, and fifth relays are sequentially short-circuited and connected to the positive power supply terminal; the first ports of the second, fourth, and sixth relays are sequentially short-circuited and connected to the negative power supply terminal; the second port of the first relay is connected to one end of the first capacitor, and the other end of the first capacitor is connected to the second port of the second relay; the second port of the third relay is connected to one end of the second capacitor, and the other end of the second capacitor is connected to the second port of the fourth relay; the second port of the fifth relay is connected to one end of the third capacitor, and the other end of the third capacitor is connected to the second port of the sixth relay; the third port of the first relay is connected to the third port of the fourth relay, and the third port of the third relay is connected to the third port of the sixth relay; the third port of the fifth relay is connected to the positive output terminal, and the third port of the second relay is connected to the negative output terminal; the positive and negative output terminals are also respectively connected to the two ends of the electromagnet. When the device is not released from the locked state, the first ports of the first, third, and fifth relays are connected to their corresponding second ports, so that one end of the first, second, and third capacitors is connected to the positive power supply terminal; the first ports of the second, fourth, and sixth relays are connected to their corresponding second ports, so that the other end of the first, second, and third capacitors is connected to the negative power supply terminal. The first, second, and third capacitors are in a parallel charging state, and the positive output terminal, negative output terminal, and electromagnet are in a floating state. When disengaged from the locked state, the third ports of the first, third, and fifth relays are connected to their corresponding second ports, and the third ports of the second, fourth, and sixth relays are connected to their corresponding second ports. This causes one end of the third capacitor to be connected to the positive output terminal, the other end of the third capacitor to be connected to one end of the second capacitor, the other end of the second capacitor to be connected to one end of the first capacitor, and the other end of the first capacitor to be connected to the negative output terminal. The first, second, and third capacitors are in a series discharge state, thereby outputting instantaneous high voltage and high current to the iron core inside the electromagnet.

[0013] Furthermore, the power conversion module includes a first MOSFET, a second MOSFET, a third MOSFET, a fourth MOSFET, an input port, an output port, a first ideal diode controller, a second ideal diode controller, a third ideal diode controller, and a fourth ideal diode controller; The first, second, third, and fourth MOSFETs form a full-bridge topology. The drains of the two upper bridge arms of the full-bridge topology are connected to the positive terminal of the output port, and the sources of the two lower bridge arms are connected to the negative terminal of the output port. The output port is used to connect to the drone battery to charge the drone. The midpoint of the two bridge arms of the full-bridge topology is connected to the input port, which is also connected to the output terminal. The first, second, third, and fourth MOSFETs are connected to the corresponding first, second, third, or fourth ideal diode controller. The gates of the first, second, third, and fourth MOSFETs are driven by the corresponding ideal diode controller. When the midpoint voltage of the bridge arm formed by the first and second MOSFETs is higher than the midpoint voltage of the bridge arm formed by the third and fourth MOSFETs, the first and fourth ideal diode controllers control the corresponding first and fourth MOSFETs to turn on, and the second and third ideal diode controllers control the corresponding second and third MOSFETs to turn off. When the midpoint voltage of the bridge arm formed by the first and second MOSFETs is lower than the midpoint voltage of the bridge arm formed by the third and fourth MOSFETs, the first and fourth ideal diode controllers control the corresponding first and fourth MOSFETs to turn off, and the second and third ideal diode controllers control the corresponding second and third MOSFETs to turn on, thereby making the output port a DC power supply to charge the UAV battery.

[0014] On the other hand, an electromagnetic induction-based power line-fed charging method for unmanned aerial vehicles is provided, comprising: The aforementioned electromagnetic induction-type power transmission line-fed charging system for drones is installed on the drone. When the drone ascends and approaches the power line, the mounting and actuation mechanism captures the power line, actuates and locks, so that the drone hangs on the power line. Current transformers use the alternating magnetic field around transmission lines to induce alternating current, and feed energy from the transmission lines. The power conversion module converts the alternating current induced by the current transformer into direct current to charge the drone's battery. Once charging is complete, the mounting and actuation mechanisms disengage and spring open, disconnecting the drone from the power line.

[0015] Furthermore, when the drone ascends and approaches the power line, the mounting and actuation mechanism captures the power line, actuates, and locks, causing the drone to suspend on the power line, including: When the drone ascends and approaches the power line, the housing of the current transformer with the capture structure comes into contact with the power line, is subjected to force and thus actuates, thereby causing the first and second semi-circular iron cores of the current transformer to merge into a complete circular iron core. After the locking mechanism completes its operation, it locks the housing of the current transformer with the capture structure, preventing it from moving relative to the power line. At this point, the drone is suspended on the power line.

[0016] The present invention has the following advantages due to the adoption of the above technical solutions: 1. This invention not only enables drones to replenish their energy using existing power grid resources, but also solves the problems of poor endurance and short flight time of drones, greatly expanding the application boundaries of drones.

[0017] 2. This invention realizes a passive moving structure, which improves the reliability of moving parts of the charging and energy feeding system and significantly reduces the structural weight and complexity of the system; 3. This invention fully utilizes the self-regulating voltage characteristics of UAV batteries, simplifies the topology and number of components of the power conversion module, and improves the conversion efficiency of the power conversion module while significantly reducing its weight.

[0018] In summary, this invention can be widely applied in the field of drone charging technology. Attached Figure Description

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. In the drawings: Figure 1 This is a schematic diagram of the overall system structure provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the mounting and actuation mechanism provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the iron core, windings and their wiring method provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of an electromagnet control drive circuit provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the power conversion module provided in an embodiment of the present invention.

[0020] The labels in the attached diagram are as follows: 1: Mounting and actuation mechanism; 2: Current transformer; 3: Power conversion module; 4: Transmission line; 10: Base plate; 11: Current transformer housing with capture structure; 12: Locking mechanism; 110: Left housing; 111: Right housing; 112: Cantilever; 120: Permanent magnet; 121: Electromagnet; 122: Electromagnet control and drive circuit; 122-1: First relay; 122-2: Second relay; 122-3: Third relay; 122-4: Fourth relay; 122-5: Fifth relay; 122-6: Sixth relay; 122-7: Positive power supply; 122-8: Negative power supply; 122-9: First capacitor; 122-10: Second capacitor; 122-11: Third capacitor; 122-12: Positive output; 122-13: Negative output; 20: First semi-circular toroidal core; 21: Second semi-circular toroidal core; 22: First winding; 23: Second winding; 24: Terminal block; 25: Output terminal; 30: First MOSFET; 31: Second MOSFET; 32: Third MOSFET; 33: Fourth MOSFET; 34: Input port; 35: Output port; 36: First ideal diode controller; 37: Second ideal diode controller; 38: Third ideal diode controller; 39: Fourth ideal diode controller. Detailed Implementation

[0021] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art.

[0022] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0023] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0024] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "above," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure.

[0025] Currently, in the rapid development of drone technology, battery life remains a major bottleneck. In certain special usage scenarios, such as in the wild or mountainous areas, a stable power supply is often lacking, making rapid charging difficult and severely limiting the drone's range. Therefore, new solutions to the drone battery life problem are urgently needed. In these special scenarios, power transmission lines are a promising energy source, as they do not require additional wiring and can directly utilize existing power grid resources. Furthermore, power transmission lines have high energy density and high power output, providing ample power for drones. Therefore, this invention provides an electromagnetic induction-based power line-fed charging system for unmanned aerial vehicles (UAVs), comprising a mounting and actuation mechanism, a current transformer, and a power conversion module. The mounting and actuation mechanism is fixedly mounted on the UAV, and a current transformer is installed within the mechanism. The mechanism is used to capture the power line as the UAV ascends and approaches it, actuating and locking the UAV so that it hangs on the power line. The current transformer is used to induce an alternating current using the alternating magnetic field around the power line, thus feeding energy from the power line. The power conversion module is installed on the mounting and actuation mechanism to convert the alternating current into direct current for charging the UAV's battery. This invention not only enables UAVs to replenish energy using existing power grid resources but also solves the problems of poor endurance and short flight time for UAVs, significantly expanding the application boundaries of UAVs.

[0026] Example 1 like Figure 1 , Figure 2 As shown, this embodiment provides an electromagnetic induction power transmission line-fed charging system for unmanned aerial vehicles, including a mounting and actuation mechanism 1, a current transformer 2, and a power conversion module 3.

[0027] The mounting and actuation mechanism 1 is fixedly mounted on the drone. A current transformer 2 is installed within the mounting and actuation mechanism 1. The mechanism is used to capture the power line 4 as the drone ascends and approaches it, actuating and locking the device so that the drone and the system are suspended on the power line 4. The current transformer 2 is used to induce an alternating current using the alternating magnetic field around the power line 4, feeding energy from the power line. A power conversion module 3 is installed on the mounting and actuation mechanism 1, which converts the alternating current into direct current to charge the drone's battery.

[0028] In a preferred embodiment, such as Figure 3 As shown, the current transformer 2 includes a first semi-circular core 20 and a second semi-circular core 21. A first winding 22 is wrapped around the outside of the first semi-circular core 20, and a second winding 23 is wrapped around the outside of the second semi-circular core 21, forming four terminals. Two terminals are short-circuited via terminals 24 in a head-to-tail sequence, and the other two terminals are connected to the power conversion module 3 as output terminals 25. When the transmission line 4 passes through the closed first semi-circular core 20 and second semi-circular core 21, the power frequency AC current transmitted inside will induce an alternating magnetic field in the first and second semi-circular cores 20 and 21. This alternating magnetic field links with the first winding 22 and the second winding 23, generating induced electromotive forces at both ends of the first winding 22 and the second winding 23, respectively. After the first winding 22 and the second winding 23 are connected end to end through the terminal 24, the induced electromotive forces are superimposed. When the power conversion module 3 is connected to the output terminal 25, induced current is generated in the first winding 22 and the second winding 23, thereby realizing the feeding of energy from the transmission line 4.

[0029] Specifically, the first semi-circular core 20 and the second semi-circular core 21 can be made of silicon steel sheets, with the stacking direction of the silicon steel sheets parallel to the axis of the ring.

[0030] More specifically, the first semi-circular ring core 20 and the second semi-circular ring core 21 can be made of silicon steel sheet of grade 50W470. When using silicon steel sheet of this grade to manufacture the core, the maximum magnetic flux inside the core is designed not to exceed 1.45T, which can enable the current transformer to obtain the highest power density, the best waveform quality and the best performance.

[0031] Specifically, both the first winding 22 and the second winding 23 can be wound with copper enameled wire.

[0032] In a preferred embodiment, such as Figure 2 As shown, the mounting and actuation mechanism 1 includes a base plate 10, a current transformer housing 11 with a capture structure, and a locking mechanism 12.

[0033] A current transformer housing 11 with a capture structure and a power conversion module 3 are fixedly mounted on the base plate 10. A current transformer 2 is housed inside the current transformer housing 11, and a locking mechanism 12 is installed on the housing 11. During the drone's ascent and approach of the power transmission line 4, the capture structure contacts and is subjected to force, causing it to actuate. This actuates the first semi-circular core 20 and the second semi-circular core 21 of the current transformer 2, merging them into a complete circular core. After the actuation process is complete, the locking mechanism 12 locks the current transformer housing 11 with the capture structure, preventing further relative movement.

[0034] Specifically, the current transformer housing 11 with the capture structure includes a left housing 110 and a right housing 111, both of which are semi-circular ring structures adapted to the first semi-circular ring core 20 and the second semi-circular ring core 21. Cantilever arms 112 are provided on both the front and rear sides of the left housing 110 and the right housing 111. One end of each cantilever arm 112 is located at one end of the semi-circular ring structure of the corresponding left housing 110 or right housing 111, and the other end of each cantilever arm 112 extends outward along a chord line below the center of the semi-circular ring structure of the corresponding left housing 110 or right housing 111 and is suspended in the air. The two cantilever arms 112 located on the same side of the left housing 110 and right housing 111 intersect in a plane perpendicular to the axis and are staggered in front and behind on the axis, forming a double X-shaped capture structure. During the vertical ascent of the UAV after contacting the power line 4, the cantilever 112 of the left shell 110 generates a clockwise torque, and the cantilever 112 of the right shell 111 generates a counterclockwise torque. Each cantilever 112 rotates together with the corresponding left shell 110 or right shell 111 around the axis located on the base plate 10 to realize the actuation process.

[0035] Specifically, such as Figure 2 , Figure 4 As shown, the locking mechanism 12 includes a permanent magnet 120, an electromagnet 121, and an electromagnet control drive circuit 122, wherein an iron core is disposed inside the electromagnet 121. The permanent magnet 120 and the electromagnet 121 are respectively disposed on both sides of the current transformer housing 11 with the capture structure, that is, the permanent magnet 120 is disposed on the left housing 110 and the electromagnet 121 is disposed on the right housing 111; or the permanent magnet 120 is disposed on the right housing 111 and the electromagnet 121 is disposed on the left housing 110. The electromagnet 121 is electrically connected to the electromagnet control drive circuit 122. The electromagnet control drive circuit 122 is used to generate a large instantaneous current by changing the series and parallel combination of capacitors through a relay, so as to drive the electromagnet 121 to generate the same polarity as the attraction surface of the permanent magnet 120. When the operation is completed, the permanent magnet 120 magnetically attracts the iron core inside the electromagnet 121, thereby achieving locking. When the electromagnet 121 is released from the locked state, the contact surface of the iron core inside the electromagnet 121 generates the same polarity as the contact surface of the permanent magnet 120, thereby generating a repulsive force between the permanent magnet 120 and the iron core inside the electromagnet 121, thus releasing the locked state and springing open.

[0036] More specifically, such as Figure 4As shown, the electromagnet control drive circuit 122 includes a first relay 122-1, a second relay 122-2, a third relay 122-3, a fourth relay 122-4, a fifth relay 122-5, a sixth relay 122-6, a positive power supply terminal 122-7, a negative power supply terminal 122-8, a first capacitor 122-9, a second capacitor 122-10, a third capacitor 122-11, a positive output terminal 122-12, and a negative output terminal 122-13.

[0037] The first ports of the first relay 122-1, the third relay 122-3, and the fifth relay 122-5 are sequentially shorted and connected to the positive power supply terminal 122-7. The first ports of the second relay 122-2, the fourth relay 122-4, and the sixth relay 122-6 are sequentially shorted and connected to the negative power supply terminal 122-8. The second port of the first relay 122-1 is connected to one end of the first capacitor 122-9, and the other end of the first capacitor 122-9 is connected to the second port of the second relay 122-2. The second port of the third relay 122-3 is connected to one end of the second capacitor 122-10, and the other end of the second capacitor 122-10 is connected to the second port of the fourth relay 122-4. The second port of the fifth relay 122-5 is connected to one end of the third capacitor 122-11, and the other end of the third capacitor 122-11 is connected to the second port of the sixth relay 122-6. The third port of the first relay 122-1 is connected to the third port of the fourth relay 122-4, and the third port of the third relay 122-3 is connected to the third port of the sixth relay 122-6. The third port of the fifth relay 122-5 is connected to the positive output terminal 122-12, and the third port of the second relay 122-2 is connected to the negative output terminal 122-13. The positive output terminal 122-12 and the negative output terminal 122-13 are also connected to the two ends of the electromagnet 121, respectively.

[0038] When not in the locked state, the first ports of the first relay 122-1, the third relay 122-3, and the fifth relay 122-5 are connected to their corresponding second ports, so that one end of the first capacitor 122-9, the second capacitor 122-10, and the third capacitor 122-11 is connected to the positive power supply 122-7; the first ports of the second relay 122-2, the fourth relay 122-4, and the sixth relay 122-6 are connected to their corresponding second ports, so that the other end of the first capacitor 122-9, the second capacitor 122-10, and the third capacitor 122-11 is connected to the negative power supply 122-8. The first capacitor 122-9, the second capacitor 122-10, and the third capacitor 122-11 are in a parallel charging state, and the positive output 122-12, the negative output 122-13, and the connected electromagnet 121 are in a floating state.

[0039] When disengaged from the locked state, the third ports of the first relay 122-1, the third relay 122-3, and the fifth relay 122-5 are connected to their corresponding second ports, and the third ports of the second relay 122-2, the fourth relay 122-4, and the sixth relay 122-6 are connected to their corresponding second ports. This connects one end of the third capacitor 122-11 to the positive output terminal 122-12, the other end of the third capacitor 122-11 to one end of the second capacitor 122-10, the other end of the second capacitor 122-10 to one end of the first capacitor 122-9, and the other end of the first capacitor 29 to the negative output terminal 122-13. The first capacitor 122-9, the second capacitor 122-10, and the third capacitor 122-11 are in a series discharge state, thereby providing instantaneous high voltage and high current to the iron core inside the electromagnet 121.

[0040] In a preferred embodiment, such as Figure 5 As shown, the power conversion module 3 includes a first MOSFET 30, a second MOSFET 31, a third MOSFET 32, a fourth MOSFET 33, an input port 34, an output port 35, a first ideal diode controller 36, a second ideal diode controller 37, a third ideal diode controller 38, and a fourth ideal diode controller 39. Among them, the first MOSFET 30, the second MOSFET 31, the third MOSFET 32, and the fourth MOSFET 33 are all N-channel MOSFETs with low on-resistance.

[0041] The first MOSFET 30, the second MOSFET 31, the third MOSFET 32, and the fourth MOSFET 33 form a full-bridge topology. The drains of the two upper bridge arms of the full-bridge topology are connected to the positive terminal of the output port 35, and the sources of the two lower bridge arms are connected to the negative terminal of the output port 35. The output port 35 is used to connect the drone battery for charging. The midpoint of the two bridge arms of the full-bridge topology is connected to the input port 34, which is also connected to the output terminal 25. The first MOSFET 30, the second MOSFET 31, the third MOSFET 32, and the fourth MOSFET 33 are connected to the corresponding first ideal diode controller 36, second ideal diode controller 37, third ideal diode controller 38, or fourth ideal diode controller 39. The gates of the first MOSFET 30, the second MOSFET 31, the third MOSFET 32, and the fourth MOSFET 33 are driven by the corresponding ideal diode controllers. When the midpoint voltage of the bridge arm formed by the first MOSFET 30 and the second MOSFET 31 is higher than the midpoint voltage of the bridge arm formed by the third MOSFET 32 and the fourth MOSFET 33, the first ideal diode controller 36 and the fourth ideal diode controller 39 control the corresponding first MOSFET 30 and the fourth MOSFET 33 to turn on, and the second ideal diode controller 37 and the third ideal diode controller 38 control the corresponding second MOSFET 31 and the third MOSFET 32 to turn off. Conversely, when the midpoint voltage of the bridge arm formed by the first MOSFET 30 and the second MOSFET 31 is lower than the midpoint voltage of the bridge arm formed by the third MOSFET 32 and the fourth MOSFET 33, the first ideal diode controller 36 and the fourth ideal diode controller 39 control the corresponding first MOSFET 30 and the fourth MOSFET 33 to turn off, and the second ideal diode controller 37 and the third ideal diode controller 38 control the corresponding second MOSFET 31 and the third MOSFET 32 to turn on, thereby making the output port 35 a DC power supply to charge the drone battery.

[0042] Specifically, the first MOSFET 30, the second MOSFET 31, the third MOSFET 32 and the fourth MOSFET 33 can be N-channel MOSFETs of model VS3602GPMT, and the first ideal diode controller 36, the second ideal diode controller 37, the third ideal diode controller 38 and the fourth ideal diode controller 39 can be ideal diode controllers of model LM74610, LM74670 or their equivalent domestic alternative MX74610.

[0043] Example 2 This embodiment provides an electromagnetic induction-based power line-fed charging method for unmanned aerial vehicles (UAVs), comprising the following steps: 1) Install the electromagnetic induction power transmission line power supply charging system of Example 1 on the drone.

[0044] 2) When the drone ascends and approaches the power line 4, the mounting and actuation mechanism 1 captures the power line, actuates and locks, causing the drone to suspend on the power line 4, specifically: 2.1) When the drone ascends and approaches the power line, the housing 11 of the current transformer with the capture structure comes into contact with the power line 4, is subjected to force and thus actuates, thereby causing the first semi-circular iron core 20 and the second semi-circular iron core 21 of the current transformer 2 to merge into a complete circular iron core.

[0045] 2.2) After the locking mechanism 12 completes the operation, it locks the housing 11 of the current transformer with the capture structure, so that it no longer generates relative motion. At this time, the UAV is suspended on the power transmission line 4.

[0046] 3) Current transformer 2 uses the alternating magnetic field around transmission line 4 to induce alternating current and feed energy from the transmission line.

[0047] 4) The power conversion module 3 converts the alternating current induced by the current transformer 2 into direct current to charge the drone's battery.

[0048] 5) After charging is complete, the mounting and actuation mechanism 1 disengages from the locked state and springs open, disconnecting the drone from the power transmission line 4. Specifically: After charging is completed, the attraction surface of the iron core inside the electromagnet 121 of the locking mechanism 12 generates the same polarity as the attraction surface of the permanent magnet 120, thereby generating a repulsive force between the permanent magnet 120 and the iron core inside the electromagnet 121, realizing the release from the locked state and the springing open.

[0049] The above embodiments are only used to illustrate the present invention. The structure, connection method and manufacturing process of each component can be varied. All equivalent transformations and improvements made on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. An electromagnetic induction-based power transmission line-fed charging system for unmanned aerial vehicles (UAVs), characterized in that, Includes mounting and actuation mechanisms, current transformers, and power conversion modules; The mounting and actuation mechanism is fixedly mounted on the UAV. The current transformer is installed inside the mounting and actuation mechanism. The mounting and actuation mechanism is used to capture the power line during the UAV's ascent and approach, actuate and lock, so that the UAV hangs on the power line. The current transformer is used to induce an alternating current using the alternating magnetic field around the power line, and feed energy from the power line. The mounting and actuation mechanism is equipped with the power conversion module, which is used to convert alternating current into direct current to charge the UAV's battery.

2. The electromagnetic induction-type power transmission line-fed charging system for unmanned aerial vehicles as described in claim 1, characterized in that, The current transformer includes a first semi-circular iron core and a second semi-circular iron core. The first semi-circular ring iron core is surrounded by a first winding, and the second semi-circular ring iron core is surrounded by a second winding, forming four wire ends. Two of the wire ends are short-circuited through a terminal block in the order of connecting the beginning and the end, and the other two wire ends are connected to the power conversion module as output terminals. When the transmission line passes through the closed first and second semi-circular iron cores, the power frequency alternating current transmitted inside will induce an alternating magnetic field in the first and second semi-circular iron cores. This alternating magnetic field intersects and links with the first and second windings, generating induced electromotive forces at both ends of the first and second windings respectively. After the first and second windings are connected end to end through the terminal block, the induced electromotive forces are superimposed. When the power conversion module is connected to the output terminal, an induced current is generated in the first and second windings, thereby realizing energy feeding from the transmission line.

3. The electromagnetic induction-type power transmission line-fed charging system for unmanned aerial vehicles as described in claim 2, characterized in that, The first and second semi-circular cores are made of silicon steel sheets, and the stacking direction of the silicon steel sheets is parallel to the axis of the ring.

4. The electromagnetic induction-type power transmission line-fed charging system for unmanned aerial vehicles as described in claim 2, characterized in that, The mounting and actuation mechanism includes a base plate, a current transformer housing with a capture structure, and a locking mechanism. The current transformer housing with the capture structure and the power conversion module are fixedly mounted on the base plate. The current transformer is installed inside the current transformer housing with the capture structure, and the locking mechanism is installed on the current transformer housing with the capture structure. As the drone ascends and approaches the power transmission line, the capture structure comes into contact with the power transmission line, is subjected to force, and thus actuates, thereby causing the first and second semi-circular iron cores to merge into a complete circular iron core; after the actuation process is completed, the locking mechanism locks the housing of the current transformer with the capture structure, so that it no longer generates relative movement.

5. The electromagnetic induction-type power transmission line-fed charging system for unmanned aerial vehicles as described in claim 4, characterized in that, The current transformer housing with the capture structure includes a left housing and a right housing, wherein both the left housing and the right housing are semi-circular ring structures that are adapted to the first semi-circular ring core and the second semi-circular ring core. Cantilever arms are provided on both the front and rear sides of the left and right shells. One end of each cantilever arm is located at one end of the semi-circular annular structure corresponding to the left or right shell. The other end of each cantilever arm extends outward along a chord line lower than the center of the semi-circular annular structure corresponding to the left or right shell and is suspended in the air. Two cantilever arms located on the same side of the left and right shells intersect on a plane perpendicular to the axis and are staggered front and rear on the axis to form a double X-shaped capture structure.

6. The electromagnetic induction-type power transmission line-fed charging system for unmanned aerial vehicles as described in claim 5, characterized in that, The locking mechanism includes a permanent magnet, an electromagnet, and an electromagnet control drive circuit, wherein the electromagnet contains an iron core. The permanent magnet and electromagnet are respectively disposed on both sides of the housing of the current transformer with the capture structure; the electromagnet is electrically connected to the electromagnet control drive circuit, which is used to drive the electromagnet to generate the same polarity as the attraction surface of the permanent magnet when it is released from the locked state, so that the permanent magnet and the iron core inside the electromagnet generate a repulsive force, thereby realizing the release from the locked state and the popping open.

7. The electromagnetic induction-type power transmission line-fed charging system for unmanned aerial vehicles as described in claim 6, characterized in that, The electromagnet control drive circuit includes a first capacitor, a second capacitor, a third capacitor, a first relay, a second relay, a third relay, a fourth relay, a fifth relay, a sixth relay, a power supply positive terminal, a power supply negative terminal, an output positive terminal, and an output negative terminal; The first ports of the first, third, and fifth relays are sequentially short-circuited and connected to the positive power supply terminal; the first ports of the second, fourth, and sixth relays are sequentially short-circuited and connected to the negative power supply terminal; the second port of the first relay is connected to one end of the first capacitor, and the other end of the first capacitor is connected to the second port of the second relay; the second port of the third relay is connected to one end of the second capacitor, and the other end of the second capacitor is connected to the second port of the fourth relay; the second port of the fifth relay is connected to one end of the third capacitor, and the other end of the third capacitor is connected to the second port of the sixth relay; the third port of the first relay is connected to the third port of the fourth relay, and the third port of the third relay is connected to the third port of the sixth relay; the third port of the fifth relay is connected to the positive output terminal, and the third port of the second relay is connected to the negative output terminal; the positive and negative output terminals are also respectively connected to the two ends of the electromagnet. When the device is not released from the locked state, the first ports of the first, third, and fifth relays are connected to their corresponding second ports, so that one end of the first, second, and third capacitors is connected to the positive power supply terminal; the first ports of the second, fourth, and sixth relays are connected to their corresponding second ports, so that the other end of the first, second, and third capacitors is connected to the negative power supply terminal. The first, second, and third capacitors are in a parallel charging state, and the positive output terminal, negative output terminal, and electromagnet are in a floating state. When disengaged from the locked state, the third ports of the first, third, and fifth relays are connected to their corresponding second ports, and the third ports of the second, fourth, and sixth relays are connected to their corresponding second ports. This causes one end of the third capacitor to be connected to the positive output terminal, the other end of the third capacitor to be connected to one end of the second capacitor, the other end of the second capacitor to be connected to one end of the first capacitor, and the other end of the first capacitor to be connected to the negative output terminal. The first, second, and third capacitors are in a series discharge state, thereby outputting instantaneous high voltage and high current to the iron core inside the electromagnet.

8. The electromagnetic induction-type power transmission line-fed charging system for unmanned aerial vehicles as described in claim 2, characterized in that, The power conversion module includes a first MOSFET, a second MOSFET, a third MOSFET, a fourth MOSFET, an input port, an output port, a first ideal diode controller, a second ideal diode controller, a third ideal diode controller, and a fourth ideal diode controller; The first, second, third, and fourth MOSFETs form a full-bridge topology. The drains of the two upper bridge arms of the full-bridge topology are connected to the positive terminal of the output port, and the sources of the two lower bridge arms are connected to the negative terminal of the output port. The output port is used to connect to the drone battery to charge the drone. The midpoint of the two bridge arms of the full-bridge topology is connected to the input port, which is also connected to the output terminal. The first, second, third, and fourth MOSFETs are connected to the corresponding first, second, third, or fourth ideal diode controller. The gates of the first, second, third, and fourth MOSFETs are driven by the corresponding ideal diode controller. When the midpoint voltage of the bridge arm formed by the first and second MOSFETs is higher than the midpoint voltage of the bridge arm formed by the third and fourth MOSFETs, the first and fourth ideal diode controllers control the corresponding first and fourth MOSFETs to turn on, and the second and third ideal diode controllers control the corresponding second and third MOSFETs to turn off. When the midpoint voltage of the bridge arm formed by the first and second MOSFETs is lower than the midpoint voltage of the bridge arm formed by the third and fourth MOSFETs, the first and fourth ideal diode controllers control the corresponding first and fourth MOSFETs to turn off, and the second and third ideal diode controllers control the corresponding second and third MOSFETs to turn on, thereby making the output port a DC power supply to charge the UAV battery.

9. A method for electromagnetic induction-based power transmission line-fed charging of unmanned aerial vehicles (UAVs), characterized in that, include: An electromagnetic induction power transmission line-fed charging system for drones as described in any one of claims 1 to 8 is installed on the drone. When the drone ascends and approaches the power line, the mounting and actuation mechanism captures the power line, actuates and locks, so that the drone hangs on the power line. Current transformers use the alternating magnetic field around transmission lines to induce alternating current, and feed energy from the transmission lines. The power conversion module converts the alternating current induced by the current transformer into direct current to charge the drone's battery. Once charging is complete, the mounting and actuation mechanisms disengage and spring open, disconnecting the drone from the power line.

10. The electromagnetic induction-based power transmission line-fed charging method for unmanned aerial vehicles as described in claim 9, characterized in that, When the drone ascends and approaches the power line, the mounting and actuation mechanism captures the power line, actuates, and locks, causing the drone to suspend on the power line, including: When the drone ascends and approaches the power line, the housing of the current transformer with the capture structure comes into contact with the power line, is subjected to force and thus actuates, thereby causing the first and second semi-circular iron cores of the current transformer to merge into a complete circular iron core. After the locking mechanism completes its operation, it locks the housing of the current transformer with the capture structure, preventing it from moving relative to the power line. At this point, the drone is suspended on the power line.

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