Anti-deviation unmanned aerial vehicle wireless charging system and charging control method

Abstract

This invention belongs to the field of wireless power transmission technology and provides an anti-deviation wireless charging system and charging control method for unmanned aerial vehicles (UAVs). The system includes a non-centrally symmetrical ladder base station and a UAV. The ladder base station includes two straight inclined planes, with a first transmitting coil and a second transmitting coil embedded in the two inclined planes and connected in series. The UAV includes a UAV body and two side landing gears, with a first receiving coil and a second receiving coil mounted on the side landing gears and connected in series. The landing gears and the inclined planes form a wedge-shaped fit. When the UAV deviates horizontally, the increase in mutual inductance of one coil pair cancels out the decrease in mutual inductance of the other coil pair, keeping the total equivalent mutual inductance essentially constant. Natural anti-deviation is achieved through a mutual inductance self-compensation mechanism; physical self-locking in roll and yaw directions is achieved through the non-centrally symmetrical ladder structure; and physical-level protection is achieved by allowing metal foreign objects to slide off naturally through the inclined working surface.

Description

Technical Field

[0001] This invention belongs to the field of Wireless Power Transfer (WPT) technology, and particularly relates to an anti-offset UAV wireless charging system and charging control method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of drone technology, drones are increasingly being used in fields such as power grid inspection, security monitoring, and automated maritime patrol. To enable drones to operate continuously for extended periods, wireless charging technology has become a crucial component of automated drone base stations. Wireless charging technology utilizes electromagnetic induction to achieve contactless energy transfer between the drone and the charging base station, avoiding the wear and poor contact problems caused by plugging and unplugging connectors in traditional wired charging methods. Currently, mainstream wireless charging solutions for drones mainly include planar charging schemes and three-dimensional guided charging schemes.

[0004] One planar charging solution employs a multi-coil array with multiple receiving coils arranged side-by-side on the drone's belly. This solution presents several problems: First, the multi-coil array significantly encroaches on the valuable space on the drone's belly, easily causing positional conflicts with gimbal cameras, radar, and other payloads, obstructing the camera's downward field of view and affecting the drone's original operational performance. Second, the horizontally arranged base station working surface forms a "tray"-like structure, easily accumulating common environmental metal objects (such as screws, waste containing metal foil, etc.). Under the influence of a kilowatt-level high-frequency alternating magnetic field, these metal objects can generate eddy current heating, potentially leading to serious safety incidents—the metal object overheating problem.

[0005] Some 3D guidance base stations employ frustum or truncated cone structures. While frustum structures can guide UAVs to glide towards the center, their centrosymmetric geometry prevents them from providing anisotropic restraint forces. When a UAV lands on an unstable platform, such as a ship's deck at sea, the frustum structure cannot effectively resist the UAV's rotation in the yaw direction, easily leading to "yaw rotation" or slippage, making reliable and stable attitude locking impossible and posing a risk of docking failure. Summary of the Invention

[0006] To address at least one of the technical problems existing in the background art, the first aspect of the present invention provides an anti-deviation drone wireless charging system that achieves inherent anti-deviation capability, robust anti-roll and anti-yaw parking fixation capability, thorough physical-level FOD protection, and zero-space-occupying, non-destructive installation.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: An anti-displacement wireless charging system for drones includes: A non-centrally symmetrical ladder base station includes two straight inclined planes; The first transmitting coil and the second transmitting coil are respectively embedded in the two straight inclined surfaces, and the first transmitting coil and the second transmitting coil are connected in series. The drone includes the drone body and two side tripods; A first receiving coil and a second receiving coil are respectively mounted on the two side stands, and the first receiving coil and the second receiving coil are connected in series. The tripod and the straight inclined surface form a wedge-shaped fit; When the UAV shifts horizontally, the increase in mutual inductance of one coil pair cancels out the decrease in mutual inductance of the other coil pair, keeping the total equivalent mutual inductance essentially constant.

[0008] In one embodiment, the angle between the straight inclined plane and the horizontal plane is 60-85°.

[0009] In one implementation, the first receiving coil and the second receiving coil adopt a non-conformal design to fit the tilt angle and tube diameter of the tripod.

[0010] In one embodiment, the planes of the first transmitting coil and the second transmitting coil are parallel to the straight inclined plane.

[0011] As one implementation, the system also includes a controller for sampling transmitter voltage and current parameters and calculating the current total equivalent mutual inductance based on the voltage and current parameters.

[0012] In one implementation, the controller compares the total equivalent mutual inductance with a preset mutual inductance tolerance band, determines the attitude of the UAV based on the comparison result, and controls the charging switch.

[0013] To address the aforementioned problems, a second aspect of this invention provides a wireless charging control method for anti-deviation drones. This method achieves inherent anti-deviation capabilities, robust anti-roll and anti-yaw parking stability, thorough physical-level FOD protection, and zero-space-occupying, non-destructive installation.

[0014] To achieve the above objectives, the present invention adopts the following technical solution: A method for controlling wireless charging of an anti-offset drone includes the following steps: Transmit detection signal; Sample the voltage and current parameters at the transmitter. Calculate the current total equivalent mutual inductance based on the voltage and current parameters; The total equivalent mutual inductance is compared with the preset mutual inductance tolerance band; If the total equivalent mutual inductance is within the tolerance band, charging is initiated; otherwise, charging is refused and an alarm signal is issued.

[0015] As one implementation method, the current formula for calculating the total equivalent mutual inductance is: , The mutual inductance of the first coil pair is The mutual inductance of the second coil pair is Total equivalent mutual inductance of the system The mutual inductance of the first coil pair increases to The air gap on the right side increases, and the mutual inductance of the second coil pair decreases. .

[0016] A third aspect of the present invention provides a computer-readable storage medium.

[0017] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described anti-offset unmanned aerial vehicle wireless charging control method.

[0018] A fourth aspect of the present invention provides a computer device.

[0019] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the above-described anti-offset unmanned aerial vehicle wireless charging control method.

[0020] The beneficial effects of this invention are: This invention utilizes an electromechanical coordinating mutual inductance automatic complementary mechanism, employing linear ladder geometric constraints to force the mutual inductance increment on one side to precisely cancel the mutual inductance reduction on the other side, achieving a constant coupling coefficient with a minimally simplistic series circuit. Compared to the traditional single-sided scheme, this improves mutual inductance stability, eliminates the need for expensive mechanical alignment mechanisms and complex switch arrays, and exhibits significantly better natural anti-offset capability than the traditional multi-coil array scheme.

[0021] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0023] Figure 1This is a main view of the docking status between the drone and the wireless charging base station provided in an embodiment of the present invention; Figure 2 This is a three-dimensional schematic diagram of the wedge-shaped coupling structure between the receiving coil and the transmitting station provided in an embodiment of the present invention; Figure 3 This is a three-dimensional isometric schematic diagram of the overall wireless charging system for drones provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the inclined working surface structure of the launch pad provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the main view panel structure of the launch pad provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the circuit topology for dual-coil series anti-offset provided in an embodiment of the present invention.

[0024] Among them, 1-UAV, 11-UAV body, 12-tripper, 13-receiving coil, 2-ladder base station, 21-sloping surface, 22-transmitting coil, 23-human-machine interaction panel, Lp1-first transmitting coil, Lp2-second transmitting coil, Ls1-first receiving coil, Ls2-second receiving coil. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0029] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0030] like Figure 1 and Figure 3 As shown, the present invention provides an anti-offset wireless charging system for unmanned aerial vehicles (UAVs), comprising a UAV 1 and a ladder base station 2. The ladder base station 2 adopts a non-centrally symmetrical ladder structure, unlike traditional frustum or planar base stations. The ladder base station 2 includes two straight inclined planes 21, which are arranged opposite each other and have the same tilt angle. A first transmitting coil... Second transmitting coil The two transmitting coils are respectively embedded in two straight inclined surfaces 21 and connected in series. The UAV 1 includes the UAV body 11 and two side landing gears 12, and the first receiving coil Second receiving coil They are installed on the two side stands 12 respectively, and the two receiving coils are connected in series.

[0031] This invention utilizes the wedge-shaped locking effect of a non-centrally symmetrical linear ladder platform and legs to completely lock yaw rotation, reducing yaw angle error and perfectly adapting to extreme environments such as shipboard swaying decks. It solves the fatal flaw of truncated cone structures in being unable to lock attitude. The inclined working surface allows metal foreign objects to slide off naturally, fundamentally eliminating the risk of fire caused by heating metal foreign objects under strong magnetic fields.

[0032] like Figure 2 As shown, the receiving coil 13 adopts a conformal design, with its housing and internal winding trajectory perfectly conforming to the tilt angle and tube diameter of the tripod 12. This design allows the receiving coil 13 to be installed on the inside or outside of the tripod 12 without damage, without increasing additional space occupation, without affecting the aerodynamic shape of the drone, and without obstructing the field of view of the bottom camera. The conformal design of the irregularly shaped receiving coil with the side of the tripod does not increase wind resistance, does not obstruct the camera's field of view, and does not reduce the belly load space, thus preserving 100% of the original operational performance of the drone.

[0033] When the UAV 1 lands on the ladder base station 2, the inner sides of the two tripods 12 form a wedge-shaped engagement with the two straight inclined surfaces 21. Under the action of gravity, the tripods 12 slide down along the inclined surfaces 21 until they are supported and locked outward by the ladder, thereby achieving rigid physical self-locking in the roll and yaw directions.

[0034] like Figure 4As shown, the transmitting coil 22 is embedded in the inclined plane 21 of the ladder. The coil plane is parallel to the inclined plane 21. The angle between the inclined plane 21 and the horizontal plane is 60 degrees to 85 degrees, preferably 80 degrees.

[0035] The selection of this angle range takes into account both mechanical and tribological factors. If the tilt angle is too small (e.g., less than 60 degrees), the slope is too gentle, making it difficult for the drone to overcome surface static friction and smoothly slide to the bottom using only its own weight, and it is also prone to dust accumulation. If the tilt angle is too large (e.g., greater than 85 degrees or close to 90 degrees), the horizontal normal force generated by the wedge clamping is insufficient, and it cannot provide enough lateral mechanical clamping force in the roll and yaw directions. An tilt angle of around 80 degrees achieves the optimal balance between ensuring smooth sliding and alignment and providing extremely strong lateral clamping force.

[0036] like Figure 6 As shown, the circuit topology of this invention employs a dual-coil series connection. At the transmitting end, high-frequency AC power flows simultaneously through the first transmitting coil connected in series. Second transmitting coil At the receiving end, the first receiving coil With the second receiving coil The series connection results in an output to a rectifier circuit. This series topology forms the circuit basis for implementing a mutual inductance self-compensation mechanism.

[0037] The core innovation of this invention lies in achieving mutual inductance self-compensation through electromechanical coordination. Assuming the first coil is the left coil and the second coil is the right coil, let the mutual inductance of the left coil pair be... The mutual inductance of the right coil pair is Total equivalent mutual inductance of the system .

[0038] When the drone shifts horizontally to the left due to landing errors, based on the geometric constraints of the fixed inclined planes on both sides of the landing platform, the distance the drone's left landing gear moves towards the left inclined plane is determined. It must be strictly equal to the distance of the drone's right landing gear from the right-side slope. This geometric constraint leads to a decrease in the left-side air gap and an increase in the left-side mutual inductance. The right-side air gap increases, and the right-side mutual inductance decreases. At this point, the total equivalent mutual inductance of the system... It becomes: , Therefore, by linking the mechanical rigid structure, the increase in mutual inductance on one side is precisely offset by the decrease in mutual inductance on the other side, thus achieving a basically constant total equivalent mutual inductance. This electromechanical cooperative mutual inductance self-compensation mechanism gives the system a natural anti-offset capability, eliminating the need for mechanical alignment mechanisms or complex multi-coil array switching control.

[0039] As a friendly embodiment of the present invention, this embodiment also provides an intelligent control method based on mutual inductance characteristics. For example... Figure 5 As shown, the ladder base station 2 is equipped with a controller and a human-machine interface panel 23. The controller samples the voltage and current parameters of the transmitter and calculates the actual total equivalent mutual inductance Mreal of the current system based on the sampled values. Due to the wedge-shaped clamping structure of the ladder, the mutual inductance is accurately canceled. When the UAV attitude is correctly locked, Mreal should fall within the preset mutual inductance tolerance band. This tolerance band is pre-calibrated according to the ladder geometry parameters and coil design parameters, and its typical value is ±5% of the theoretical mutual inductance value.

[0040] The specific control process is as follows: The base station continuously transmits a low-power, high-frequency detection pulse signal. The frequency of the detection signal is between 50 kHz and 200 kHz, preferably 85 kHz, and the power is 10 watts.

[0041] When the drone lands, the controller samples the voltage U, current I, and phase difference φ of the primary coil in real time, and calculates the actual total equivalent mutual inductance according to the law of electromagnetic induction. ; The controller will Compare with the preset mutual inductance tolerance band; like If the drone falls within the tolerance zone, it proves that the two landing gears on both sides have slid perfectly into the inclined plane and formed a wedge-shaped lock. The physical attitude is completely correct and locked. The system then starts the full-power main charging stage (the output power range of the main charging stage is, for example, 1 kW to 10 kW, and the maximum charging power in this embodiment is 6.4 kW).

[0042] like The extreme deviation from the tolerance zone indicates that the drone is highly likely to have experienced a single-leg landing, such as one leg getting stuck on a foreign object or tree branch, failing to form a double-sided wedge fit. In this case, the large single-sided air gap prevents mutual inductance from being compensated. The system will refuse to activate high-power charging and will issue an alarm signal for abnormal landing attitude through the human-machine interface panel 23 and the backend communication module to prevent safety accidents caused by severe magnetic field deviation.

[0043] like Figure 5As shown, the ladder base station 2 is also equipped with multiple safety protection modules. The human-machine interface panel 23 displays the charging status, battery level, input and output voltage and current, fault information, etc. in real time. The system has a built-in electronic-grade metal foreign object detection function, which determines whether there are metal foreign objects in the working area by detecting magnetic field distortion before starting high-power charging. The system is also equipped with an over-temperature protection module, which automatically reduces power or cuts off charging when the coil temperature exceeds 85 degrees Celsius; an over-voltage protection module, which automatically cuts off the input when the input voltage exceeds 110% of the rated value; and an over-current protection module, which automatically cuts off the output when the output current exceeds 120% of the rated value. These protection modules together constitute a complete safety protection system.

[0044] Example This embodiment provides a complete wireless charging system for drones. For example... Figure 1 and Figure 3 As shown, the two straight inclined planes 21 of the ladder base station 2 form an angle of 80 degrees with the horizontal plane. First transmitting coil. Second transmitting coil Each transmitting coil is embedded within one of two inclined planes 21. Each coil is 650 mm long, 150 mm wide, has 10 turns, and uses 8 mm wire, wound with Litz wire to reduce high-frequency losses. The two transmitting coils are connected in series with a total inductance of 82 microhenries.

[0045] like Figure 2 As shown, the first receiving coil Second receiving coil The receiver coils are installed on the inner sides of the two landing gear units 12 on both sides of the UAV 1. Each receiver coil adopts a non-conformal design, with an equivalent coverage area of ​​1500 square centimeters, 10 turns, and a wire diameter of 7 mm, also wound with Litz wire. The housing of the receiver coil is made of high-strength engineering plastic, and the internal winding trajectory perfectly conforms to the tilt angle and circular diameter of the landing gear unit 12, achieving non-destructive installation. The two receiver coils are connected in series with a wire, and the total inductance after series connection is 70 microhenries.

[0046] The transmitting circuit includes a high-frequency AC power supply, a resonant compensation capacitor, and two transmitting coils connected in series. The high-frequency AC power supply outputs at 85 kHz and has a rated power of 6400 watts. The capacitance of the resonant compensation capacitor is calculated based on the coil inductance to ensure the system operates in resonance, thereby improving transmission efficiency. The receiving circuit includes two receiving coils connected in series, a resonant compensation capacitor, a full-bridge rectifier circuit, and a DC voltage regulator circuit. The rectified DC voltage is regulated to 79.2 volts, used to charge the drone's six lithium-ion battery packs, with a total battery capacity of 144,000 mAh.

[0047] The controller employs a 32-bit microcontroller with a main frequency of 168 MHz. It samples the voltage and current at the transmitter in real time using voltage and current sensors at a sampling frequency of 10 kHz. Based on the sampled values, the controller calculates the actual total equivalent mutual inductance of the current system. The preset mutual inductance tolerance band is ±5% of the theoretical mutual inductance value of 70 microhenries, i.e., 66.5 microhenries to 73.5 microhenries. When When the drone lands within this tolerance zone, the controller determines that the drone's attitude is correctly locked and initiates high-power charging; when When the device deviates from this tolerance zone, the controller determines that the attitude is abnormal, refuses to charge, and issues an alarm signal.

[0048] The complete workflow of the system is as follows: After completing its patrol mission, UAV 1, guided by real-time dynamic carrier phase differential technology and visual markers, flies to above the ladder base station 2 and descends vertically. Due to wind interference, UAV 1 contacts the launch pad with a slight horizontal deviation. At this time, one of the landing gear 12 contacts the ramp slope 21 first. Under the action of gravity, UAV 1 slides slightly along the ramp slope 21 until both landing gear 12 contacts the ramp slope 21 and forms a wedge-shaped lock. After the base station detects that the UAV has arrived, it first transmits a low-power detection pulse with a power of 10 watts and a frequency of 85 kHz. The controller calculates the current total series equivalent mutual inductance in real time. If the drone experiences a slight horizontal deviation, based on Figure 6 The topology shown automatically cancels out the mutual inductance of the left and right sides, and the total mutual inductance still falls within the wedge-shaped locking characteristic tolerance zone. The system determines that the physical locking is successful and the resonance is matched, then the handshake is successful and full power is supplied, with a charging power of 6400 watts. If the mutual inductance is abnormal, it is determined that there is a foreign object propping it up or the posture is not locked properly, charging is refused and an alarm is triggered. When the system is outputting full power, the human-machine interface panel 23 updates the charging progress in real time, displaying information such as the current battery level, charging current, and charging time. When the battery is fully charged, the controller automatically cuts off charging.

[0049] In this embodiment, the system's transmission efficiency reaches over 85%. Within a horizontal offset range of ±50 mm, the total equivalent mutual inductance changes by less than 3%, the coupling coefficient remains essentially constant, and the charging process is stable and reliable. The 80-degree inclination of the ramp 21 allows any metal foreign objects falling onto the working surface to slide off naturally under gravity, effectively avoiding the risk of fire caused by eddy current heating of metal foreign objects under a high-frequency magnetic field. The irregularly shaped, conformal receiving coil 13 is completely integrated into the original space of the tripod 12, without adding extra wind resistance, without obstructing the field of view of the bottom camera, and without encroaching on the belly load space, fully preserving the original operational performance of the UAV. The non-centrally symmetrical linear ramp structure and the wedge-shaped clamping action of the tripod completely lock the UAV's yaw rotation, with a yaw angle error of less than ±5 degrees, maintaining stable docking even in swaying environments such as ship decks.

[0050] To verify the mutual inductance self-compensation effect of the present invention, the following comparative experiment was conducted. The control group adopted a traditional single-sided single-coil scheme, with only one transmitting coil at the transmitting end and only one receiving coil at the receiving end. Both coils were horizontally arranged on the underside of the UAV and the top plane of the base station, achieving planar docking. The experimental group adopted the double-sided series-connected coil scheme of the present invention, with two transmitting coils connected in series at the transmitting end and two receiving coils connected in series at the receiving end. The coils were mounted on the inside of the tripod, forming a wedge-shaped docking with the inclined surface of the platform.

[0051] As shown in the table above, the traditional single-sided single-coil scheme experiences a 79.2% decrease in mutual inductance and a severely deteriorated coupling coefficient when horizontally offset by ±50 mm, preventing the system from charging normally. In contrast, the dual-sided series-connected coil scheme of this invention exhibits only a 5.0% decrease in mutual inductance under the same offset, with a relatively stable coupling coefficient, allowing for normal charging. The experimental results fully demonstrate the effectiveness of the mutual inductance self-compensation mechanism of this invention. Compared to the traditional scheme, the mutual inductance stability of this invention is improved by approximately 26 times, and its inherent resistance to offset is significantly superior to the traditional multi-coil array scheme.

[0052] This invention achieves a wireless charging system for unmanned aerial vehicles (UAVs) with inherent anti-deviation, strong attitude locking, physical-level metal foreign object protection, and zero space intrusion through an electromechanical cooperative scheme of a non-centrally symmetrical ladder structure, side-mounted conformal coil design, and dual-sided coil series topology. The system has a simple and reliable structure, high charging efficiency, and good safety, making it particularly suitable for fully automated charging applications in complex working conditions such as power grid inspection and marine vessels.

[0053] As an embodiment of the present invention, this embodiment provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the charging control method of an anti-offset UAV wireless charging system as described above.

[0054] As an embodiment of the present invention, this embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the charging control method of the anti-offset UAV wireless charging system described above.

[0055] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0056] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0057] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0058] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0059] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An anti-displacement wireless charging system for unmanned aerial vehicles, characterized in that, include: A non-centrally symmetrical ladder base station includes two straight inclined planes; The first transmitting coil and the second transmitting coil are respectively embedded in the two straight inclined surfaces, and the first transmitting coil and the second transmitting coil are connected in series. The drone includes the drone body and two side tripods; A first receiving coil and a second receiving coil are respectively mounted on the two side stands, and the first receiving coil and the second receiving coil are connected in series. The tripod and the straight inclined surface form a wedge-shaped fit; When the UAV shifts horizontally, the increase in mutual inductance of one coil pair cancels out the decrease in mutual inductance of the other coil pair, keeping the total equivalent mutual inductance essentially constant.

2. The anti-displacement wireless charging system for unmanned aerial vehicles as described in claim 1, characterized in that, The angle between the straight inclined plane and the horizontal plane is 60-85°.

3. The anti-displacement wireless charging system for unmanned aerial vehicles as described in claim 1, characterized in that, The first receiving coil and the second receiving coil adopt a non-conformal design to fit the tilt angle and tube diameter of the tripod.

4. The anti-displacement wireless charging system for unmanned aerial vehicles as described in claim 1, characterized in that, The planes of the first transmitting coil and the second transmitting coil are parallel to the straight inclined plane.

5. The anti-displacement wireless charging system for unmanned aerial vehicles as described in claim 1, characterized in that, It also includes a controller, which is used to sample the voltage and current parameters of the transmitter and calculate the current total equivalent mutual inductance based on the voltage and current parameters.

6. The anti-displacement wireless charging system for unmanned aerial vehicles as described in claim 1, characterized in that, The controller compares the total equivalent mutual inductance with the preset mutual inductance tolerance band, determines the attitude of the drone based on the comparison result, and controls the charging switch.

7. A charging control method based on an anti-offset UAV wireless charging system according to any one of claims 1-6, characterized in that... This includes the following steps: Transmit detection signal; Sample the voltage and current parameters at the transmitter. Calculate the current total equivalent mutual inductance based on the voltage and current parameters; The total equivalent mutual inductance is compared with the preset mutual inductance tolerance band; If the total equivalent mutual inductance is within the tolerance band, charging is initiated; otherwise, charging is refused and an alarm signal is issued.

8. The charging control method as described in claim 7, characterized in that, The current formula for calculating the total equivalent mutual inductance is: ， The mutual inductance of the first coil pair is The mutual inductance of the second coil pair is Total equivalent mutual inductance of the system The mutual inductance of the first coil pair increases to The air gap on the right side increases, and the mutual inductance of the second coil pair decreases. .

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the charging control method as described in any one of claims 7-8.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the charging control method as described in any one of claims 7-8.

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