Line-perching type charging module and unmanned aerial vehicle charging system and method

Abstract

The invention provides a line-perching type charging module and an unmanned aerial vehicle charging system and method, and is used for solving the problems that an existing inspection unmanned aerial vehicle based on a CT electricity taking ring is difficult to align and clamp and the inspection weight is large. The line-perching type charging module comprises a clamping power taking assembly, a charging assembly and an unmanned aerial vehicle docking assembly; the clamping electricity taking assembly comprises a CT electricity taking ring, the clamping electricity taking assembly is used for clamping a high-voltage line and obtaining electric energy transmitted on the high-voltage line through the CT electricity taking ring, and the charging assembly is used for converting the electric energy obtained by the CT electricity taking ring and achieving contact type or non-contact type charging of the unmanned aerial vehicle. And the unmanned aerial vehicle docking assembly is used for adsorbing a to-be-charged unmanned aerial vehicle. The wireless charging convenience of the unmanned aerial vehicle is greatly improved, and the cruising distance of the unmanned aerial vehicle is greatly increased.

Description

Technical Field

[0001] This invention relates to the field of wireless power transmission, and in particular to a wired charging module and a drone charging system and method. Background Technology

[0002] As a new type of aerial vehicle, drones are now widely used in various fields such as environmental monitoring and power line inspection. In power line inspection, drones typically need to fly for extended periods in relatively remote areas, covering a large area of ​​power facilities. However, due to limitations in current battery technology, drones generally have short flight times, often requiring frequent returns to recharge or battery replacement after the batteries are depleted. This not only increases the operational complexity of the mission but also significantly increases costs and reduces work efficiency.

[0003] In recent years, with the maturity of wireless charging technology, CT power take-off rings have been applied to the field of wireless charging. CT power take-off rings are devices that use the principle of electromagnetic induction to extract electrical energy from high-voltage transmission lines to provide power to intelligent electronic devices. However, drone charging systems based on CT power take-off rings have technical problems in the application of field inspection drones, such as difficulty in aligning and gripping the device, and the fact that the CT power take-off ring module configuration results in a large inspection weight that the drone needs to carry. Summary of the Invention

[0004] The purpose of this invention is to provide a wired charging module and a drone charging system and method. This addresses the technical problems of existing inspection drones based on CT power-collecting rings, which suffer from difficulties in alignment and clamping, and the large weight of the drones being inspected.

[0005] First, this invention discloses a wired charging module, including a clamping power-collecting component, a charging component, and a drone docking component;

[0006] The clamping power-collecting component includes a CT power-collecting ring, which is used to clamp the high-voltage line and obtain the electrical energy transmitted on the high-voltage line through the CT power-collecting ring. The charging component is used to convert the electrical energy obtained by the CT power-collecting ring and realize contact or non-contact charging of the drone. The drone docking component is used to adsorb the drone to be charged.

[0007] Optionally, the clamping power-gathering assembly further includes a base plate and an opening and closing gripper. The opening and closing gripper includes two symmetrically arranged semi-circular claws, and the bottom ends of the semi-circular claws are rotatably mounted on the base plate via a rotating shaft.

[0008] The CT power-collecting ring includes two semi-circular electromagnetic cores, which are respectively embedded in two semi-circular grippers. At least one electromagnetic core is wound with a power-collecting winding, which is connected to the charging component through a power-collecting controller.

[0009] Optionally, the clamping power-gathering assembly further includes a drive mechanism for driving the opening and closing of the opening and closing gripper. The drive mechanism includes a bracket mounted on the base plate and a guide rod slidably mounted on the bracket in the vertical direction.

[0010] An arc-shaped pressure plate is installed at the top of the guide rod, and a double-sided rack is installed at the bottom of the guide rod. Gears are installed on the rotating shaft. The two gears mesh with the two sides of the double-sided rack respectively. When the high-voltage line contacts the arc-shaped pressure plate, the double-sided rack moves downward to drive the two gears to rotate, and the opening and closing gripper closes.

[0011] Optionally, the drive mechanism may further include a limiting spring and / or a limiting torsion spring;

[0012] The limiting spring is sleeved on the guide rod between the arc-shaped pressure plate and the top of the bracket, and the limiting torsion spring is sleeved on the rotating shaft. The two ends of the limiting torsion spring are respectively connected to the base plate and the rotating shaft. When the limiting spring and / or the limiting torsion spring are in a free state, the opening and closing gripper is in an open state.

[0013] Optionally, the clamping power-gathering assembly further includes a limiting mechanism for limiting the closed semi-annular gripper.

[0014] The limiting mechanism includes a limiting seat installed at the top of the semi-circular gripper, and a limiting magnet is embedded in the limiting seat. At least one limiting magnet is an electromagnet. When the opening and closing gripper is closed, the end faces of the two limiting magnets are in contact.

[0015] Optionally, a guide frame for guiding the high-voltage line into the space between the two semi-annular grippers is installed on the base plate;

[0016] The top of the guide frame is provided with a trumpet-shaped guide groove, which is used to guide the high-voltage line.

[0017] Based on the above-mentioned charging module, the present invention also provides an installation method for a wired charging module, which is used for installing the above-mentioned wired charging module, and the specific steps are as follows:

[0018] S1: Connect the wired charging module to the drone;

[0019] S2: Locate the high-voltage line and determine its installation location;

[0020] S3: The drone flies towards the target installation location without passing through, and clamps the wired charging module onto the high-voltage line corresponding to the target installation location through the clamping power collection component;

[0021] S4: The drone detaches from the wired charging module and flies away.

[0022] Secondly, this invention discloses a drone charging system, including the above-mentioned wired charging module, wherein the drone docking component includes two connecting magnets and a connecting seat installed at the bottom of the base plate;

[0023] The connector is provided with a mounting cavity, and two connecting magnets are respectively installed on the top of the drone and in the mounting cavity. At least one connecting magnet is an electromagnet. A flared opening is provided on the side wall of the mounting cavity, and the flared opening is used to guide the connecting magnet on the top of the drone.

[0024] Of course, in addition to the adsorption structure, the drone docking component can also be configured with other forms such as snap-fit ​​structure, locking structure, suspension structure, and gripping structure.

[0025] Optionally, the charging component is a contactless wireless charging component, which is an electric field-coupled wireless charging system or a magnetic field-coupled wireless charging system.

[0026] The wireless charging component includes a wireless charging transmitter mounted on a wired charging module and a wireless charging receiver mounted on a drone. The wireless charging transmitter is connected to a power controller, and the wireless charging receiver is connected to the drone's load battery.

[0027] Based on the above-described drone charging system, the present invention also provides a drone charging method, characterized in that, using the above-described drone charging system, the specific steps are as follows:

[0028] S1: The drone receives a roosting command, which is triggered by weather factors, battery power status, or manually issued by a third-party control system.

[0029] S2: Search for the nearest available wired charging module location to the drone;

[0030] S3: The drone flies toward the target charging location and connects to the wired charging module via the drone docking component. The drone then stops and enters the resting charging state.

[0031] S4: The drone receives a stop charging command;

[0032] S5: The drone detaches from the wired charging module and flies away.

[0033] Because of the adoption of the above technical solution, the present invention has the following advantages:

[0034] 1. When outdoor weather changes suddenly or the drone needs to be charged, this application enables the drone to connect to the wired charging module through the drone docking component, which improves the convenience of wireless charging for drones and the drone's ability to avoid danger in the wild.

[0035] 2. This application uses a CT power-collecting ring embedded in the opening and closing gripper to charge the inspection drone. When the drone needs to recharge, it does not need to return to base over a long distance, which greatly improves the convenience of wireless charging for the drone and thus improves its inspection efficiency.

[0036] 3. In this application, when installing the wired charging module, it is first placed on a drone and attracted by a magnet. The drone is then controlled to fly under the high-voltage line. Under the action of the guide frame, it comes into contact with the arc-shaped pressure plate. By squeezing the arc-shaped pressure plate, the guide rod and rack move downward and drive the rack and gripper to rotate, thereby closing the gripper. The closing and the limiting mechanism prevent the gripper from opening, thus realizing the automated installation of the wired charging module and greatly reducing the intensity of manual installation.

[0037] 4. This application sets up connecting magnets. When the drone approaches the wired charging module, the connecting magnets are energized. Under the action of magnetic force, the two connecting magnets attract each other, realizing a reliable connection between the drone and the wired charging module. When charging is completed, the connecting magnets are de-energized, and the drone is detached from the wired charging module. During the drone inspection process, it is not necessary to carry the wired charging module, which greatly improves its flight convenience and cruising range.

[0038] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0039] The accompanying drawings of this invention are described below.

[0040] Figure 1 This is a schematic diagram of the left side of the wired charging module of the present invention.

[0041] Figure 2 This is a schematic diagram of the rear structure of the wired charging module of the present invention.

[0042] Figure 3 This is a schematic diagram of the drive mechanism of the present invention.

[0043] Figure 4 This is a schematic diagram of the opening and closing gripper and CT power collection ring of the present invention.

[0044] Figure 5 This is a schematic diagram of the guide frame of the present invention.

[0045] Figure 6 This is a structural diagram of the cable-type charging module with ratchet limiting mechanism of the present invention.

[0046] Figure 7 This is a schematic diagram of the ratchet limiting mechanism of the present invention.

[0047] Figure 8 This is a schematic diagram of the spline sleeve and annular magnet of the present invention.

[0048] Figure 9 This is a circuit diagram of the internal circuitry of the power controller of the present invention.

[0049] Figure 10 This is a structural block diagram of the non-contact charging structure of the present invention.

[0050] Figure 11 This is a flowchart of the installation method of the wired charging module of the present invention.

[0051] Figure 12 This is a schematic diagram of the structure of the drone charging system of the present invention.

[0052] Figure 13 This is a schematic diagram of the structure of the present invention, which connects the magnet, the connector, and the transmitting coil.

[0053] Figure 14 This is a schematic diagram of the structure connecting the magnet and the receiving coil of the present invention.

[0054] Figure 15 This is a schematic diagram of the structure of the present invention, which connects the magnet, the connector, and the emitter plate.

[0055] Figure 16 This is a schematic diagram of the structure connecting the magnet and the receiving plate of the present invention.

[0056] Figure 17 This is a flowchart of the drone charging method of the present invention.

[0057] In the diagram: 1-UAV; 2-Base plate; 3-High voltage line; 4-Opening gripper; 401-Semi-annular gripper; 5-CT power take-off ring; 501-Electromagnetic core; 502-Power take-off winding; 6-Power take-off controller; 7-Connecting magnet; 8-Connecting seat; 9-Guide frame; 901-Guide groove; 10-Rotating shaft; 11-Bracket; 12-Guide rod; 13-Arc-shaped pressure plate; 14-Double-sided rack; 15-Gear; 16-Limiting spring; 17-Limiting torsion spring; 18-Limiting seat; 19-Limiting magnet; 20-Spline sleeve; 21-Spline mounting sleeve; 22-Annular magnet; 23-Reset spring; 24-Drive electromagnet; 25-Ratchet; 26-Ratchet seat; 27-Transmitting coil; 28-Receiving coil; 29-Transmitting electrode plate; 30-Receiving electrode plate; 31-Inverted T-shaped mounting platform. Detailed Implementation

[0058] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0059] Example 1:

[0060] This embodiment provides a wired charging module, such as Figure 1 , Figure 2 and Figure 4 As shown, it includes a clamping power-gathering component, a charging component, and a drone docking component;

[0061] The clamping power-collecting component includes a CT power-collecting ring 5. The clamping power-collecting component is used to clamp the high-voltage line 3 and obtain the electrical energy transmitted on the high-voltage line 3 through the CT power-collecting ring 5. The charging component is used to convert the electrical energy obtained by the CT power-collecting ring 5 and realize contact or non-contact charging of the drone 1. The drone docking component is used to adsorb the drone 1 to be charged.

[0062] In this embodiment, the drone docking assembly includes at least one of an adsorption device, a gripping device, or a snap-fit ​​device.

[0063] like Figure 1 , Figure 2 and Figure 4 As shown, the clamping power-gathering assembly also includes a base plate 2 and an opening and closing gripper 4. The opening and closing gripper 4 includes two symmetrically arranged semi-annular grippers 401. The bottom end of the semi-annular grippers 401 is rotatably mounted on the base plate 2 via a rotating shaft 10.

[0064] The CT power-collecting ring 5 includes two semi-annular electromagnetic cores 501, which are respectively embedded in two semi-annular grippers 401. At least one electromagnetic core 501 is wound with a power-collecting winding 502, which is connected to the charging component through a power-collecting controller 6.

[0065] In this embodiment, initially, the opening and closing gripper 4 is in the open state; as Figure 9 As shown, the power controller 6 includes a housing, and a protection circuit, a rectifier circuit, and a DC-DC control circuit arranged inside the housing and connected in sequence. The protection circuit is connected to the output terminal of the power-taking winding 502, and the DC-DC control circuit is connected to the input terminal of the battery load of the UAV 1. When the UAV 1 is charging, the AC power is first converted to DC power by the rectifier circuit, and then the DC voltage is smoothed by the filter circuit. Next, the DC voltage is adjusted to the voltage level by the DC / DC control circuit. In this embodiment, the protection circuit includes a short-circuit control circuit. When the wired charging module needs to be disconnected from the high-voltage line 3, in order to ensure its stable release, the power-taking winding 502 needs to be short-circuited to demagnetize the two magnetic cores 501, thereby facilitating the disconnection of the wired charging module from the high-voltage line 3.

[0066] In this embodiment, the semi-annular gripper 401 includes two clamping plates, with the electromagnetic core 501 clamped between the two clamping plates. The rotating shaft 10 is fixedly connected to the semi-annular gripper 401, and bearings are installed at both ends of the rotating shaft 10. The rotating shaft 10 is rotatably mounted on the base plate 2 through bearing seats. In this embodiment, an air gap is provided between the two electromagnetic cores 501 when the opening and closing gripper 4 is closed.

[0067] like Figure 1 , Figure 2 and Figure 3 As shown, the clamping power-gathering assembly also includes a drive mechanism for driving the opening and closing of the opening and closing gripper 4. The drive mechanism includes a bracket 11 mounted on the base plate 2 and a guide rod 12 slidably mounted on the bracket 11 in the vertical direction.

[0068] An arc-shaped pressure plate 13 is installed at the top of the guide rod 12, and a double-sided rack 14 is installed at the bottom of the guide rod 12. Gears 15 are installed on the rotating shaft 10. The two gears 15 mesh with the two sides of the double-sided rack 14 respectively. When the high-voltage line 3 contacts the arc-shaped pressure plate 13, the double-sided rack 14 moves downward to drive the two gears 15 to rotate, and the opening and closing gripper 4 closes.

[0069] like Figure 1 , Figure 2 and Figure 3 As shown, the drive mechanism also includes a limiting spring 16 and / or a limiting torsion spring 17;

[0070] The limiting spring 16 is sleeved on the guide rod 12 between the arc-shaped pressure plate 13 and the top of the bracket 11. The limiting torsion spring 17 is sleeved on the rotating shaft 10. The two ends of the limiting torsion spring 17 are respectively connected to the base plate 2 and the rotating shaft 10. When the limiting spring 16 or / and the limiting torsion spring 17 are in a free state, the opening and closing gripper 4 is in an open state.

[0071] In this embodiment, the initial open state of the opening and closing gripper 4 is limited by the limiting spring 16 and / or the limiting torsion spring 17, so that it always remains open when no external force is applied. When the arc-shaped pressure plate 13 comes into contact with the high-voltage line 3, the limiting spring 16 and / or the limiting torsion spring 17 are compressed, and the guide rod 12 and the double-sided rack 14 drive the two gears 15 to rotate downward, thereby causing the opening and closing gripper 4 to close and clamp onto the outer wall of the high-voltage line 3.

[0072] like Figure 1 , Figure 2 and Figure 5 As shown, a guide frame 9 for guiding the high-voltage line 3 into the space between two semi-annular grippers 401 is installed on the base plate 2;

[0073] The top of the guide frame 9 is provided with a trumpet-shaped guide groove 901, which is used to guide the high voltage line 3.

[0074] In this embodiment, when the clamping power-collecting component is close to the high-voltage line 3, the clamping power-collecting component is guided by the trumpet-shaped guide groove 901, so that the high-voltage line 3 enters between the two semi-annular jaws 401. In this embodiment, the guide groove 901 includes a U-shaped guide section and a trumpet-shaped guide section. The high-voltage line 3 is guided by the trumpet-shaped guide section. When the high-voltage line 3 abuts against the arc-shaped pressure plate 13, the high-voltage line 3 enters the U-shaped guide section to limit it, so that it can compress the limiting spring 16 or / and the limiting torsion spring 17.

[0075] The clamping power-gathering assembly also includes a limiting mechanism for limiting the closed semi-annular gripper 401.

[0076] As one embodiment of this application, such as Figure 1 , Figure 2 and Figure 4 As shown, the limiting mechanism includes a limiting seat 18 installed at the top of the semi-circular gripper 401. A limiting magnet 19 is embedded in the limiting seat 18. At least one limiting magnet 19 is an electromagnet. When the opening and closing gripper 4 is closed, the end faces of the two limiting magnets 19 are in contact.

[0077] In this embodiment, when the opening and closing gripper 4 is closed, the electromagnet is energized, causing the two limiting magnets 19 to have opposite polarities and attract each other. When the installation of the clamping power-collecting component is completed, and when it is necessary to disassemble the clamping power-collecting component, the electromagnet is de-energized. Under the action of the limiting spring 16 and / or the limiting torsion spring 17, the opening and closing gripper 4 opens to the initial position, and the drone 1, the clamping power-collecting component and the high-voltage line 3 are separated.

[0078] As another embodiment of this application, such as Figure 6 , Figure 7 and Figure 8 As shown, the limiting mechanism includes a spline sleeve 20 and a spline mounting sleeve 21;

[0079] One end of the rotating shaft 10 extends out of the shaft mounting seat. One end of the rotating shaft 10, the spline sleeve 20, and the spline mounting cylinder 21 are slidably fitted from the inside to the outside via splines. The other end of the spline sleeve 20 is equipped with an annular magnet 22. A return spring 23 is fitted on the outer wall of the spline sleeve 20 between the annular magnet 22 and the spline mounting cylinder 21. A driving electromagnet 24 is installed on the base plate 2. The driving electromagnet 24 cooperates with the annular magnet 22 to drive the spline of the spline sleeve 20 to disengage from the spline of the spline mounting cylinder 21. A ratchet 25 is installed on the outer wall of the spline mounting cylinder 21. The ratchet 25 is mounted on the base plate 2 via a ratchet seat 26. The ratchet 25 is used to limit the rotation of the semi-annular gripper 401 in the opening direction.

[0080] In this embodiment, the clamping power-generating component needs to be clamped onto the high-voltage line 3 for a long time. If the above-mentioned limiting magnet 19 structure is used, the electromagnet needs to be energized for a long time, which greatly increases the cost. Moreover, the limiting mechanism clamped by the limiting magnet 19 has poor stability under extreme weather conditions such as strong winds. Therefore, in view of the shortcomings of the above structure, this application provides a ratchet limiting mechanism. In this embodiment, an external spline is provided on the outer wall of one end of the rotating shaft 10, an internal spline is provided on the inner wall of the spline sleeve 20, an external spline is provided at one end of the outer wall of the spline sleeve 20, and an internal spline is provided on the inner wall of the spline mounting cylinder 21. When the return spring 23 is in a free state (the driving electromagnet 24 is not energized), the internal spline of the spline mounting cylinder 21 slides and engages with the external spline at one end of the spline sleeve 20. Under the action of the ratchet 25, the two semi-annular grippers 401 will not cycle in the opening direction. When it is necessary to disassemble the clamping power-gathering component, the drive electromagnet 24 is energized so that it repels the annular magnet 22 with the same pole, pushing the inner spline of the spline mounting sleeve 21 to disengage from the outer spline at one end of the spline sleeve 20 (the ratchet 25 does not limit the rotation of the rotating shaft 10). Under the action of the limiting spring 16 and / or the limiting torsion spring 17, the semi-annular gripper 401 is opened.

[0081] like Figure 11 As shown, this application also provides an installation method for a wired charging module, used to install the aforementioned wired charging module, the specific steps of which are as follows:

[0082] S1: Connect the wired charging module to the drone 1;

[0083] S2: Locate high-voltage line 3 and determine its installation location;

[0084] S3: The drone 1 flies toward the target installation position and clamps the wire charging module onto the high-voltage line 3 corresponding to the target installation position through the clamping power collection component;

[0085] S4: Drone 1 detaches from the wired charging module and flies away.

[0086] In this embodiment, when the wired charging module is installed for the first time, it is placed on top of the drone 1 and connected through the drone docking component. The installation position of the wired charging module is determined based on its own positioning information (GPS positioning or Beidou positioning) and the distribution location information of the high-voltage line 3 pre-imported by the system. When the drone 1 and the wired charging module are close to the high-voltage line 3, the opening and closing gripper 4 clamps onto the high-voltage line 3, and the CT power collection ring 5 is sleeved on the outer wall of the high-voltage line 3. After the wired charging module is installed, the drone docking component is disengaged, the drone 1 flies away, and the installation of the clamping power collection component is completed.

[0087] In this embodiment, the UAV 1 is disconnected from the wired charging module, so the UAV does not need to carry the wired charging module during the inspection process, which greatly improves its flight convenience and cruising range.

[0088] Example 2:

[0089] This embodiment provides a drone charging system, such as Figure 12 As shown, the drone docking assembly includes the wired charging module described in Embodiment 1, and includes two connecting magnets 7 and a connecting seat 8 installed at the bottom of the base plate 2.

[0090] The connecting seat 8 is provided with a mounting cavity, and two connecting magnets 7 are respectively installed on the top of the drone 1 and in the mounting cavity. At least one connecting magnet 7 is an electromagnet. A flared opening is provided on the side wall of the mounting cavity, and the flared opening is used to guide the connecting magnet 7 on the top of the drone.

[0091] In this embodiment, when the drone needs to be charged, the connecting magnet 7 (electromagnet) at the top of the drone is energized. Under the guidance of the funnel-shaped opening of the mounting cavity, the connecting magnet 7 at the top of the drone is connected to the connecting magnet 7 at the bottom of the base plate 2. After the connection is completed, charging is performed through the wireless charging component.

[0092] like Figure 10 , Figure 13 , Figure 14 , Figure 15 and Figure 16 As shown, the charging component is a contactless wireless charging component, which is an electric field-coupled wireless charging system or a magnetic field-coupled wireless charging system.

[0093] As one embodiment of this application, such as Figure 13 and Figure 14As shown, the wireless charging component is a magnetic field-coupled wireless charging system. Its transmitting end includes a high-frequency inverter, a primary-side compensation circuit, and a transmitting coil 27 connected in sequence. The input end of the high-frequency inverter is connected to the output end of the DC / DC control circuit. Its receiving end includes a receiving coil 28, a secondary-side compensation circuit, and a rectifier connected in sequence. The output end of the rectifier is connected to the battery load of the UAV 1.

[0094] In this embodiment, both the transmitting coil 27 and the receiving coil 28 are planar spiral coils with an inner diameter larger than the outer diameter of the connecting magnet 7. Meanwhile, the magnetic field coupling wireless charging system is existing technology and will not be described in detail in this application.

[0095] As another embodiment of this application, such as Figure 15 and Figure 16 As shown, the wireless charging component is an electric field-coupled wireless charging system. Its transmitting end includes a high-frequency inverter, a primary-side compensation circuit, and two transmitting plates 29 connected in sequence. The input end of the high-frequency inverter is connected to the output end of the DC / DC control circuit. Its receiving end includes two receiving plates 30, a secondary-side compensation circuit, and a rectifier connected in sequence. The output end of the rectifier is connected to the battery load of the UAV 1.

[0096] In this embodiment, the electric field coupling wireless charging system is prior art and will not be described in detail in this application. Figure 14 and Figure 16 As shown, the top of the UAV 1 is provided with an inverted T-shaped mounting platform 31, the connecting magnet 7 at the top of the UAV is mounted on the top of the inverted T-shaped mounting platform 31, the receiving coil 27 or two receiving plates 30 is provided on the ring platform of the inverted T-shaped mounting platform 31, and the transmitting coil 26 or two transmitting plates 29 is provided on the ring platform outside the horn-shaped opening of the connecting seat 8.

[0097] like Figure 17 As shown, this application also provides a drone charging method, which uses the above-mentioned drone charging system, and the specific steps are as follows:

[0098] S1: The drone 1 receives a roosting command, which is triggered by weather factors, the remaining battery power, or is actively issued by a third-party control system.

[0099] S2: Search for the nearest idle wired charging module location to the drone 1;

[0100] S3: Drone 1 flies toward the target charging location. Drone 1 is connected to the wired charging module via the drone docking component. The drone stops and enters the resting charging state.

[0101] S4: Drone 1 receives a stop charging command;

[0102] S5: Drone 1 detaches from the wired charging module and flies away.

[0103] In this embodiment, when the battery load of the drone 1 is low, it can determine the location of the nearest available siding charging module based on its own positioning information (GPS positioning or Beidou positioning) and the distribution location information of the siding charging module pre-imported by the system. The drone 1 connects to the siding charging module through the drone docking component, and draws power through the CT power ring 5 coupled with the high voltage line 3. The power is then transmitted to the side of the drone 1 through the wireless charging component to charge the battery load of the drone 1.

[0104] In summary, this application greatly improves the convenience of wireless charging for the drone by embedding a CT power-collecting ring 5 on the opening and closing gripper 4 and using the CT power-collecting ring to charge the drone 1. By setting up connecting magnets 7, when the drone 1 approaches the wired charging module, the connecting magnets 7 are energized, and the two connecting magnets 7 are attracted under the action of magnetic force, realizing a reliable connection between the drone and the wired charging module. When charging is completed, the connecting magnets 7 are de-energized, and the drone is detached from the gripper power-collecting component. During the inspection process of the drone 1, it is not necessary to carry the wired charging module, which greatly improves its flight convenience and cruising range.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A wired charging module, characterized in that, This includes a clamping power-gathering component, a charging component, and a drone docking component; The clamping power-collecting component includes a CT power-collecting ring (5), which is used to clamp the high-voltage line (3) and obtain the electrical energy transmitted on the high-voltage line (3) through the CT power-collecting ring (5). The charging component is used to convert the electrical energy obtained by the CT power-collecting ring (5) and realize contact or non-contact charging to the UAV (1). The UAV docking component is used to receive the UAV (1) for charging.

2. The wired charging module according to claim 1, characterized in that, The clamping power-collecting assembly also includes a base plate (2) and an opening and closing gripper (4). The opening and closing gripper (4) includes two symmetrically arranged semi-circular grippers (401). The bottom end of the semi-circular grippers (401) is rotatably mounted on the base plate (2) via a rotating shaft (10). The CT power-collecting ring (5) includes two semi-annular power-collecting cores (501), which are respectively embedded in two semi-annular grippers (401). At least one power-collecting core (501) is wound with a power-collecting winding (502), which is connected to the charging component through a power-collecting controller (6).

3. A wired charging module according to claim 2, characterized in that, The clamping power-gathering assembly also includes a drive mechanism for driving the opening and closing of the opening and closing gripper (4). The drive mechanism includes a bracket (11) mounted on the base plate (2) and a guide rod (12) slidably mounted on the bracket (11) in the vertical direction. An arc-shaped pressure plate (13) is installed at the top of the guide rod (12), and a double-sided rack (14) is installed at the bottom of the guide rod (12). Gears (15) are installed on the rotating shaft (10). The two gears (15) mesh with the two sides of the double-sided rack (14) respectively. When the high-voltage line (3) contacts the arc-shaped pressure plate (13), the double-sided rack (14) moves downward to drive the two gears (15) to rotate, and the opening and closing gripper (4) closes.

4. A wired charging module according to claim 3, characterized in that, The drive mechanism also includes a limiting spring (16) and / or a limiting torsion spring (17). The limiting spring (16) is sleeved on the guide rod (12) between the arc-shaped pressure plate (13) and the top of the bracket (11). The limiting torsion spring (17) is sleeved on the rotating shaft (10). The two ends of the limiting torsion spring (17) are connected to the bottom plate (2) and the rotating shaft (10) respectively. When the limiting spring (16) or / and the limiting torsion spring (17) are in a free state, the opening and closing gripper (4) is in an open state.

5. A wired charging module according to claim 2, characterized in that, The clamping power-gathering assembly also includes a limiting mechanism for limiting the closed semi-annular gripper (401); The limiting mechanism includes a limiting seat (18) installed at the top of the semi-circular gripper (401), and a limiting magnet (19) is embedded in the limiting seat (18). At least one limiting magnet (19) is an electromagnet. When the opening and closing gripper (4) is closed, the end faces of the two limiting magnets (19) are in contact.

6. A wired charging module according to claim 2, characterized in that, The base plate (2) is equipped with a guide frame (9) for guiding the high voltage line (3) into the space between two semi-circular grippers (401). The top of the guide frame (9) is provided with a trumpet-shaped guide groove (901) for guiding the high voltage line (3).

7. A method for installing a wired charging module, characterized in that, The specific steps for installing the wired charging module according to any one of claims 1-6 are as follows: S1: Connect the wired charging module to the drone (1); S2: Locate the high-voltage line (3) and determine its installation location; S3: The drone (1) flies toward the target installation position and clamps the wire charging module onto the high-voltage line (3) corresponding to the target installation position through the clamping power collection component; S4: The drone (1) detaches from the wired charging module and flies away.

8. A drone charging system, characterized in that, The drone docking assembly includes the siding charging module according to any one of claims 1-6, and the drone docking assembly includes two connecting magnets (7) and a connecting seat (8) installed at the bottom of the base plate (2). The connecting seat (8) is provided with a mounting cavity. Two connecting magnets (7) are respectively installed on the top of the drone (1) and in the mounting cavity. At least one connecting magnet (7) is an electromagnet. A horn-shaped opening is provided on the side wall of the mounting cavity. The horn-shaped opening is used to guide the connecting magnet (7) on the top of the drone.

9. A drone charging system according to claim 8, characterized in that, The charging component is a non-contact wireless charging component, and the wireless charging component is an electric field coupling wireless charging system or a magnetic field coupling wireless charging system. The wireless charging component includes a wireless charging transmitter mounted on a wired charging module and a wireless charging receiver mounted on a drone (1). The wireless charging transmitter is connected to a power controller (6), and the wireless charging receiver is connected to the load battery of the drone (1).

10. A method for charging a drone, characterized in that, The specific steps of using the drone charging system according to claim 8 or 9 are as follows: S1: The UAV (1) receives a basking command, which is triggered by weather factors, the remaining battery power, or is actively issued by a third-party control system. S2: Search for the location of the nearest idle linear charging module to the drone (1); S3: The drone (1) flies toward the target charging location and connects the drone (1) to the roosting charging module through the drone docking component. The drone stops and enters the roosting charging state. S4: The drone (1) receives the command to stop charging; S5: The drone (1) detaches from the wired charging module and flies away.

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