Unmanned aerial vehicle charging device and control method

Abstract

This application relates to a drone charging device and control method, including a drive module, a lifting module, a sensing module, and a control module. The lifting module includes a lifting structure and a lifting platform, on which a wireless transmitting coil is disposed. The lifting structure supports the lifting platform. The sensing module detects the parking status of the drone to be charged on the lifting platform and the contact status between the wireless receiving coil and the wireless transmitting coil, and sends the parking status and contact status to the control module. The control module controls the drive module to drive the lifting structure to move when the drone to be charged is parked on the lifting platform, so that the wireless receiving coil makes contact with the wireless transmitting coil. When the wireless receiving coil and the wireless transmitting coil are in close contact, the control module controls the drive module to stop the lifting structure. Using the drone charging device provided in this application can improve the charging efficiency of the drone to be charged.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV charging device and control method. Background Technology

[0002] Drones have become an important tool in modern aerial logistics, delivery, search and rescue, and monitoring. However, in long-distance transmission or long-duration operation missions, the battery capacity and endurance of drones have become the main limitations.

[0003] In traditional technology, a fixed wireless charging transmitting coil assembly is typically used. After the drone lands, it is charged through the wireless charging receiving coil on the underside of the drone and the wireless charging transmitting coil.

[0004] However, in traditional technology, the wireless charging receiving coil and the wireless charging transmitting coil on the belly of the drone cannot fit tightly together, resulting in poor charging performance for the drone. Summary of the Invention

[0005] Therefore, it is necessary to provide a drone charging device and control method that can improve the charging effect in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a drone charging device, including: a drive module, a lifting module, a sensing module and a control module. The lifting module includes a lifting structure and a lifting platform. A wireless transmitting coil is provided on the lifting platform. The sensing module is provided on the lifting platform. The drive module is connected to the lifting structure. The control module is connected to the drive module and the sensing module.

[0007] A lifting structure is used to support the lifting platform, and the wireless transmitting coil on the lifting platform is used to connect with the wireless receiving coil of the drone to be charged.

[0008] The sensing module is used to detect the parking status of the drone to be charged on the lifting platform, as well as the contact status between the wireless receiving coil and the wireless transmitting coil, and send the parking status and contact status to the control module.

[0009] The control module is used to control the drive module to drive the lifting structure to move when the drone to be charged is parked on the lifting platform, so that the wireless receiving coil makes contact with the wireless transmitting coil, and to control the drive module to drive the lifting structure to stop moving when the wireless receiving coil and the wireless transmitting coil are in close contact.

[0010] In one embodiment, the lifting platform includes a base plate and side plates, and a connecting plate connecting the base plate and side plates, wherein there is an angle between the base plate and side plates, the angle being greater than 90 degrees and less than 180 degrees;

[0011] The base plate is equipped with a wireless transmitting coil, and the connecting plate is used to support the landing gear of the drone to be charged.

[0012] In one embodiment, a cushioning pad is provided on the side of the base plate near the drone to be charged, and a cushioning pad is provided on the side of the connecting plate near the drone to be charged.

[0013] In one embodiment, the base plate includes a sub-plate and a planar frame, the sub-plate and the planar frame are connected, the sub-plate is provided with a wireless transmitting coil, and the planar frame is equipped with a stainless steel mesh.

[0014] In one embodiment, the sensing module includes an infrared beam sensor, a ranging sensor, and a pressure sensor. The infrared beam sensor is disposed on the side of the base plate close to the drone to be charged, while the ranging sensor and the pressure sensor are both disposed on the base plate.

[0015] In one embodiment, the drive module includes a motor, a reducer, a coupling, and a lead screw. The output shaft of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the lead screw via the coupling.

[0016] In one embodiment, the lifting structure includes a bearing housing, multiple connecting rods and multiple connecting members. A lead screw is disposed on the bearing housing and is connected to the first end of the multiple connecting rods through the connecting members. The second end of the multiple connecting rods is connected to the lifting platform.

[0017] Secondly, one embodiment of this application provides a control method for a drone charging device, applied to the drone charging device provided in the first aspect above, the control method comprising:

[0018] When the drone to be charged is detected to be parked on the lifting platform in the drone charging device, the drive module in the drone charging device is controlled to drive the lifting structure in the drone charging device to move, so that the wireless transmitting coil on the lifting platform makes contact with the wireless receiving coil on the drone to be charged.

[0019] If the wireless receiving coil and the wireless transmitting coil are detected to be in close contact, the control drive module will drive the lifting structure to stop moving.

[0020] In one embodiment, after detecting that the drone to be charged is parked on the lifting platform in the drone charging device, the control method further includes:

[0021] Obtain the distance between the drone to be charged and the lifting platform;

[0022] The drive module in the drone charging device drives the lifting structure in the drone charging device to move, including:

[0023] Based on the distance, the control drive module drives the lifting structure to move.

[0024] In one embodiment, the control method further includes:

[0025] Acquire pressure data from the pressure sensor in the sensing module of the drone charging device;

[0026] When the pressure data reaches a preset threshold, it is determined that the wireless receiving coil and the wireless transmitting coil are in close contact;

[0027] If the pressure data does not reach the preset threshold, it is determined that the wireless receiving coil and the wireless transmitting coil are not in close contact.

[0028] The aforementioned drone charging device and control method include a driving module, a lifting module, a sensing module, and a control module. The lifting module includes a lifting structure and a lifting platform. A wireless transmitting coil is disposed on the lifting platform. The sensing module is disposed on the lifting platform. The driving module is connected to the lifting structure, and the control module is connected to both the driving module and the sensing module. The lifting structure supports the lifting platform, and the wireless transmitting coil on the lifting platform is used to connect to the wireless receiving coil of the drone to be charged. The sensing module detects the parking status of the drone to be charged on the lifting platform and the contact status between the wireless receiving coil and the wireless transmitting coil, and sends the parking status and contact status to the control module. The control module controls the driving module to drive the lifting structure to move when the drone to be charged is parked on the lifting platform, so that the wireless receiving coil and the wireless transmitting coil make contact. When the wireless receiving coil and the wireless transmitting coil are in close contact, the control module controls the driving module to stop the lifting structure. In this embodiment, the control module automatically controls the wireless transmitting coil on the lifting platform to make close contact with the wireless receiving coil on the underside of the drone to be charged, based on information fed back from the sensing module. This ensures a suitable distance between the wireless transmitting and receiving coils, preventing excessive spacing and improving the electromagnetic coupling efficiency between them, thereby increasing the charging power of the drone charging device. Conversely, it prevents insufficient spacing, which could lead to poor contact and charging failure, further improving the charging efficiency of the drone charging device. Furthermore, the drone charging device in this application, through the control module, can automatically charge the drone, meeting the continuous operation requirements for efficient drone recharging. This is particularly beneficial in applications requiring rapid recharging and frequent takeoffs and landings, offering higher charging efficiency and stability. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of a drone charging device in one embodiment;

[0031] Figure 2 This is a schematic diagram of the lifting module in one embodiment;

[0032] Figure 3 This is a schematic diagram of the lifting module in another embodiment;

[0033] Figure 4 This is a perspective view of a drone charging device in one embodiment;

[0034] Figure 5 A side view of a drone charging device in one embodiment;

[0035] Figure 6 This is a top view of a drone charging device in one embodiment;

[0036] Figure 7 This is a front view of a drone charging device in one embodiment;

[0037] Figure 8 A perspective view of the drone charging device in another embodiment;

[0038] Figure 9 A front view of the drone charging device in another embodiment;

[0039] Figure 10 This is a schematic diagram of the torque and speed curves of a motor in one embodiment;

[0040] Figure 11 This is a flowchart illustrating the steps of a control method for a drone charging device in one embodiment.

[0041] Figure 12 This is a flowchart illustrating the steps of a control method for a drone charging device in another embodiment.

[0042] Figure 13 This is a flowchart illustrating the steps of a control method for a drone charging device in another embodiment.

[0043] Figure 14 This is a flowchart illustrating the steps of a control method for a drone charging device in another embodiment.

[0044] Figure 15 This is a schematic diagram of the control device of a drone charging device in one embodiment;

[0045] Figure 16 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] It should be noted that the terms "first," "second," etc., used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. Unless otherwise specified, the terms "connection" and "linkage" in this application include direct or indirect connections (linkages).

[0048] like Figure 1 As shown, one embodiment of this application provides a drone charging device, including a drive module 100, a lifting module 200, a sensing module 300, and a control module 400. The lifting module 200 includes a lifting structure 210 and a lifting platform 220. A wireless transmitting coil 221 is disposed on the lifting platform 220. The sensing module 300 is disposed on the lifting platform 220. The drive module 100 is connected to the lifting structure 210, and the control module 400 is connected to the sensing module 300.

[0049] The lifting structure 210 is used to support the lifting platform 220, and the wireless transmitting coil 221 on the lifting platform 220 is used to connect to the wireless receiving coil of the drone to be charged.

[0050] The sensing module 300 is used to detect the parking status of the drone to be charged on the lifting platform 220, as well as the contact status between the wireless receiving coil and the wireless transmitting coil 221, and sends the parking status and contact status to the control module 400.

[0051] The control module 400 is used to control the drive module 100 to drive the lifting structure 210 to move when the drone to be charged is parked on the lifting platform 220, so that the wireless receiving coil and the wireless transmitting coil 221 are in contact, and to control the drive module 100 to drive the lifting structure 210 to stop moving when the wireless receiving coil and the wireless transmitting coil 221 are in close contact.

[0052] The lifting structure 210 can be a folding structure comprising multiple connecting rods. By driving the module 100 to extend and retract the connecting rods in the lifting structure 210, the lifting platform 220 located on the lifting structure 210 can be moved vertically up and down. The lifting platform 220 can be a cuboid, a cube, or other irregular three-dimensional structure. The lifting platform 220 can be made of stainless steel or other materials with sufficient hardness. This embodiment does not limit the structure and material of the lifting platform 220 as long as its function is achieved.

[0053] The drive module 100 may include a motor and a lead screw. The lead screw connects the output shaft of the motor to the lifting structure 210, allowing the motor to drive the lifting structure to move vertically up and down. The motor can be a stepper motor or a servo motor. This embodiment does not limit the specific structure of the drive module 100, as long as it can achieve its function.

[0054] The sensing module 300 includes various types of sensing components with different functions and different positions on the lifting platform 220. The sensing components in the sensing module 300 can be disposed on the lifting platform 220 or embedded inside the lifting platform 220. The sensing module 300 may include a sensing component for detecting the parking status of a drone to be charged on the lifting platform 220, i.e., a sensing component for detecting whether a drone to be charged is parked on the lifting platform 220. The sensing module 300 may also include a sensing component for detecting the contact between the wireless receiving coil at the underside of the drone to be charged and the wireless transmitting coil 221 on the lifting platform 220, i.e., a sensing component for detecting whether the wireless receiving coil and the wireless transmitting coil 221 are in close contact.

[0055] The control module 400 can be a control chip and controller integrated into the drone charging device. Specifically, the control module 400 can be a programmable logic controller (PLC). The control module 400 includes input / output modules, which can execute corresponding action sequences based on different input signals to meet the automation requirements of the drone charging device. Both the drive module 100 and the sensing module 300 are connected to the control module 400. This connection can be wireless or wired; this embodiment does not impose any limitations on this.

[0056] Understandably, the control module 400 can acquire the parking status of the drone to be charged on the lifting platform 220 detected by the sensor module 300, and determine whether it is necessary to send a control signal to the drive module 100 to control the drive module 100 to drive the lifting structure 210 to move. That is, if the parking status is that there is a drone to be charged on the lifting platform 220, the control module 100 will drive the lifting structure 210 to move in the direction of the drone to be charged (upward) to make the wireless transmitting coil on the lifting platform 220 in close contact with the wireless receiving coil on the underside of the drone to be charged; if there is no drone to be charged on the lifting platform 220, then it is not necessary to control the drive module 100 to work.

[0057] The control module 400 can also acquire the contact status between the sensing module 300 and the detected wireless receiving coil on the underside of the drone to be charged and the wireless transmitting coil 221 on the lifting platform 220, and determine whether to send a control signal to the drive module 100 to control the drive module 100 to stop the lifting structure from moving based on the contact status. That is, if the contact status is that the wireless receiving coil and the wireless transmitting coil are in close contact, the drive module 100 is controlled to stop the lifting structure 210 from moving towards the drone to be charged; if the contact status is that the wireless receiving coil and the wireless transmitting coil are not in close contact, the drive module 100 continues to control the lifting structure 210 to move towards the drone to be charged. In the case where the contact status is that the wireless transmitting coil 221 and the wireless receiving coil are in close contact, the wireless transmitting coil 221 and the wireless receiving coil are coupled and connected, and the drone to be charged can be charged through the wireless transmitting coil 221 and the wireless receiving coil.

[0058] In an optional embodiment, the control module 400 can also be used to detect whether the drone to be charged has finished charging through the sensing module 300, that is, to detect whether the drone to be charged has finished charging and left the lifting platform 200. If the control module 400 determines that the drone to be charged has finished charging and left the lifting platform based on the detection, it sends a control signal to the drive module 100 to control the drive module 100 to drive the lifting structure 210 to reset.

[0059] It is understood that the control module 400 includes a display screen displaying an emergency stop control, a start control, and a reset control. The user can trigger the emergency stop control on the display screen, and the control module 400 responds to this trigger operation. The control drive module 100 stops the lifting structure 210 from moving; the user can trigger the start control on the display screen, and the control module 400 responds to this trigger operation by starting the lifting structure 210; the user can trigger the reset control on the display screen, and the control module 400 responds to this trigger operation by resetting the lifting structure 210, i.e., moving it to a pre-set reset position.

[0060] The drone charging device provided in this embodiment includes a drive module 100, a lifting module 200, a sensing module 300, and a control module 400. The lifting module 200 includes a lifting structure 210 and a lifting platform 220. A wireless transmitting coil 221 is disposed on the lifting platform 220. The sensing module 300 is disposed on the lifting platform 220. The drive module 100 is connected to the lifting structure 210, and the control module 400 is connected to the drive module 100 and the sensing module 300. The lifting structure 210 supports the lifting platform 220, and the wireless transmitting coil 221 on the lifting platform 220 is connected to the wireless receiving coil of the drone to be charged. The sensing module 300 is used to detect the parking status of the drone to be charged on the lifting platform 220, as well as the contact status between the wireless receiving coil and the wireless transmitting coil 221, and sends the parking status and contact status to the control module 400. The control module 400 is used to control the drive module 100 to drive the lifting structure 210 to move when the drone to be charged is parked on the lifting platform 220, so that the wireless receiving coil and the wireless transmitting coil 221 make contact, and when the wireless receiving coil and the wireless transmitting coil 221 are in close contact, the control module 100 drives the lifting structure 210 to stop moving. In this embodiment, the control module 400, based on information fed back from the sensor module 300, can automatically control the wireless transmitting coil 221 on the lifting platform 220 to make close contact with the wireless receiving coil on the underside of the drone to be charged. This ensures a suitable distance between the wireless receiving coil and the wireless transmitting coil 221, preventing excessive spacing and improving the electromagnetic coupling efficiency between them, thereby increasing the charging power of the drone charging device. Conversely, it prevents poor contact between the wireless receiving coil and the wireless transmitting coil 221 due to insufficient spacing, thus improving the charging efficiency of the drone charging device. Furthermore, the drone charging device in this application, through the control module 400, can automatically charge the drone to be charged, meeting the continuous operation requirements for efficient drone recharging. Especially in application scenarios requiring rapid recharging and frequent takeoffs and landings, it exhibits higher charging efficiency and stability.

[0061] In one embodiment, such as Figure 2 As shown, the lifting platform 220 includes a base plate 222 and a side plate 223, as well as a connecting plate 224 connecting the base plate 222 and the side plate 223. There is an included angle between the base plate 222 and the side plate 223, which is greater than 90 degrees and less than 180 degrees.

[0062] A wireless transmitting coil 221 is provided on the base plate 222, and the connecting plate 224 is used to support the landing gear of the drone to be charged.

[0063] The base plate 222 can be made of stainless steel, and its shape can be a cuboid or other regular or irregular three-dimensional structure. A wireless transmitting coil 221 is installed on the base plate 222. The side plate 223 can be made of sheet metal, steel plate, aluminum-zinc coated plate, etc., and its shape can be a cuboid. The length of the side plate 223 can be longer or shorter than the length of the base plate 222. The connecting plate 224 can be a rectangular plate, and its length can be the same as the length of the side plate 223.

[0064] The connecting plate 224 connects the base plate 222 and the side plate 223. The side plate 223 and the connecting plate 224 can be fixedly connected or movably connected. The connecting plate 224 and the base plate 222 can also be fixedly connected or movably connected; this embodiment does not impose any restrictions on this. When the drone to be charged is parked on the lifting platform 220, its landing gear rests on the connecting plate 224. This embodiment does not impose any restrictions on the material, length, or width of the connecting plate 224, as long as it fulfills its function. This embodiment does not impose any restrictions on the included angle between the base plate 222 and the side plate 223, as long as it does not affect the parking of the drone to be charged.

[0065] In this embodiment, the lifting platform 220 includes a base plate 222 and a side plate 223, as well as a connecting plate 224 connecting the base plate 222 and the side plate 223. An angle exists between the base plate 222 and the side plate 223, forming a V-shaped structure, which reduces wind resistance during the takeoff and landing of the drone to be charged. Furthermore, the connecting plate 224 supports the landing gear of the drone to be charged, thus compensating for accuracy errors in the horizontal (left-right) direction during landing.

[0066] In one embodiment, a cushioning pad is provided on the side of the base plate 222 near the drone to be charged, and a cushioning pad is provided on the side of the connecting plate 224 near the drone to be charged.

[0067] The base plate 222 includes a side close to the drone to be charged and a side close to the lifting structure 210. A buffer pad is laid on the surface of the base plate 222 on the side close to the drone to be charged. This way, when the drive module 100 drives the lifting structure 210 to move towards the side close to the drone to be charged, it can avoid the lifting platform 220 from making close contact with the belly of the drone to be charged, thus preventing damage to the belly of the drone to be charged.

[0068] The connecting plate 224 includes a side near the drone to be charged and a side near the lifting structure 210. A cushioning pad is laid on the surface of the connecting plate 224 near the drone to be charged to prevent damage to the landing gear of the drone to be charged.

[0069] In an optional embodiment, the cushioning pad may be a flexible conductive cushioning pad.

[0070] In one embodiment, such as Figure 3 As shown, the base plate 222 includes a sub-plate 2221 and a planar frame 2222. The sub-plate 2221 and the planar frame 2222 are connected. A wireless transmitting coil is provided on the sub-plate 2221, and a stainless steel mesh is installed on the planar frame 2222.

[0071] Subplate 2221 can be made of stainless steel, and its shape can be a cuboid or other regular or irregular three-dimensional structure. A wireless transmitting coil is installed on subplate 2221. Planar frame 2222 can be a rectangular frame, and its length can be the same as or different from the length of side plate 223. Planar frame 2222 can be fixedly connected to subplate 2221, or it can be movably connected. When control module 400 controls drive module 100 to drive lifting structure 210 to support the movement of lifting platform 2220, subplate 2221 and planar frame 2222 move together with lifting structure 210, thus allowing for a fixed connection between subplate 2221 and planar frame 2222.

[0072] The planar frame 2222 and the side plate 223 can form a V-shaped structure. Stainless steel is installed on the planar frame 2222. This structural design can reduce wind resistance when the drone is taking off and landing.

[0073] In one embodiment, such as Figure 3 As shown, the sensing module 300 includes an infrared beam sensor 310, a range sensor, and a pressure sensor (not shown in the figure). The infrared beam sensor 310 is disposed on the side of the base plate 222 close to the drone to be charged, and the range sensor and pressure sensor are both disposed on the base plate 222.

[0074] It is understood that columns are provided on opposite sides of the base plate 222 near the drone to be charged (i.e., on the sides of the base plate 222 not connected to the connecting plate 224), and infrared beam sensors 310 are mounted on these columns. That is, the infrared beam sensor 310 includes a receiver and a transmitter; the receiver of the infrared beam sensor 310 is mounted on one column, and the transmitter is mounted on the other column. The parking status of the drone to be charged on the lifting platform 220 is detected by the transmission of light beams between the receiver and transmitter of the infrared beam sensor 310. The sensing module 300 may include multiple infrared beam sensors 310, corresponding to multiple columns on opposite sides of the base plate 222 near the drone to be charged, with each infrared beam sensor 310 mounted on a column. The position of the infrared beam sensor 310 on the column depends on the height of the drone to be charged on the lifting platform 220. In other words, when the drone to be charged is parked on the lifting platform 220, it is necessary to ensure that the drone to be charged can block the beam emitted by the infrared beam sensor 310 so that the parking status of the drone to be charged on the lifting platform 220 can be detected.

[0075] A ranging sensor can be installed on the side of the lifting platform 220 near the drone to be charged. This sensor measures the initial distance between the drone's fuselage and the lifting platform 220 when the drone is parked on it, and transmits this initial distance to the control module 400. The control module 400 then controls the speed and distance at which the drive module 100 drives the lifting structure 210 based on this initial distance.

[0076] The pressure sensor can be located on the side of the lifting platform 220 near the drone to be charged, or it can be integrated inside the lifting platform 220. The key is that it can detect the pressure information between the lifting platform 220 and the underside of the drone to be charged. During the movement of the lifting structure 210, controlled by the control module 400 and the drive module 100, the pressure information from the pressure sensor is acquired in real time. When the pressure information reaches a preset threshold, it indicates that the wireless transmitting coil 221 on the lifting platform 220 is in close contact with the wireless receiving coil on the underside of the drone to be charged. In this case, the control module 100 stops the lifting structure 210 from moving.

[0077] In this embodiment, the sensing module 300 includes an infrared beam sensor 310, a ranging sensor, and a pressure sensor. The infrared beam sensor 310 detects the parking status of the drone to be charged on the lifting platform 220, the ranging sensor detects the initial distance between the underside of the drone to be charged and the lifting platform 220, and the pressure sensor detects the pressure information between the underside of the drone to be charged and the lifting platform 220. This enables the control module 400 to automatically control the drone charging device to charge the drone to be charged, thereby improving the charging efficiency and stability of the drone charging device.

[0078] In one embodiment, such as Figures 4-9 As shown, the drive module 100 includes a motor 110, a reducer 120, a coupling 130, and a lead screw 140. The output shaft of the motor 110 is connected to the input shaft of the reducer 120, and the output shaft of the reducer 120 is connected to the lead screw 140 through the coupling 130.

[0079] The reducer 120 includes an input shaft and an output shaft. The input shaft of the reducer 120 is connected to the output shaft of the motor 110, and the output shaft of the reducer 120 is connected to a coupling 130. The coupling 130 connects the output shaft of the reducer 120 to the lead screw 140. This embodiment does not limit the types of the reducer 120 and the coupling 130, as long as they can achieve their functions.

[0080] The working principle of the driver module 100 is as follows:

[0081] The motor 110 outputs power torque, which is reduced and increased by the reducer 120. The coupling 130 then synchronously transmits the rotational motion to the lead screw 140, causing the lead screw 140 to rotate. This converts the rotational power of the motor into linear drive power, thereby realizing the linear motion of the subsequent lifting structure 210.

[0082] In an alternative embodiment, the reducer 120 is a worm gear reducer and the coupling 130 is a diaphragm coupling.

[0083] In an optional embodiment, such as Figures 4-9 As shown, the lifting platform 220 is provided with a limiting slot 1. The limiting slot 1 can prevent the position of the drone to be charged from shifting during the charging process, thereby improving the charging stability.

[0084] In this embodiment, the drive module 100 includes a motor 110, a reducer 120, a coupling 130, and a lead screw 140. Such a drive module 100 has a simple structure and is easy to implement, which can improve the practicality of the drone charging device.

[0085] In one embodiment, such as Figure 4As shown, the lifting structure 210 includes a bearing seat 211, multiple connecting rods 212 and multiple connecting members 213. The lead screw 140 is disposed on the bearing seat 211. The lead screw 140 is connected to the first end of the multiple connecting rods 212 through the connecting members 213. The second end of the multiple connecting rods 212 is connected to the lifting platform 220.

[0086] Bearing housing 211 supports multiple connecting rods 212 to support the lifting platform 220. For example... Figure 5 As shown, in order to ensure the stability of the lifting structure 210, the lifting structure 210 includes at least two bearing seats 211. The lead screw 140 is mounted on one bearing seat 211, and the other bearing seat 211 is connected to the connecting rod 212 through the connector 213.

[0087] The lifting structure 210 includes multiple connecting rods 212 and multiple connecting pieces 213. The multiple connecting rods 212 are connected by multiple connecting pieces 213. The rotational movement of the lead screw 140 in the drive module 100 drives the multiple connecting pieces connected to it to move in the vertical direction. The multiple connecting rods 212 are connected sequentially by connecting pieces 213. The first end of the multiple connecting rods 212 is connected to the lead screw 140, and the second end of the multiple connecting rods 212 (the other end after sequential connection) is connected to the lifting platform 220. The number of connecting pieces 213 is determined by the number of connecting rods 212. The number of connecting rods 212 can be determined by the maximum distance the lifting structure needs to move in the vertical direction. In this embodiment, the specific number of connecting rods 212 and connecting pieces 213 is not limited, as long as the function can be achieved.

[0088] In one specific embodiment, the connector 213 is a cylindrical pin.

[0089] In this embodiment, the lifting structure 210 includes a bearing seat 211, multiple connecting rods 212, and multiple connecting members 213. A lead screw 140 is mounted on the bearing seat 211. The lead screw 140 is connected to the first end of the multiple connecting rods 212 through the connecting members 213. The second end of the multiple connecting rods 212 is connected to the lifting platform 220. Such a lifting structure 210 has a simple structure and is easy to implement, which can improve the practicality of the drone charging device.

[0090] In an optional embodiment, on the lifting platform 220 (e.g. Figure 3 A moving track (guide column and guide slider) is provided at the location marked by the circle shown. The lifting platform 220 moves along the moving track as the lifting structure 210 moves. Limit sensors are provided at the bottom and top of the moving track (guide column) to prevent the lifting platform from overtraveling. In addition, an origin sensor is provided at the initial position of the moving track (guide column) to facilitate the resetting of the lifting structure 210.

[0091] In an optional embodiment, the selection of the lead screw 140 in the drive module 100 needs to meet certain conditions; specifically, there are certain requirements for the shaft diameter of the lead screw 140. Since the lifting structure 210 moves vertically, its gravity load and self-locking capability need to be carefully checked. Assuming the lifting structure 210's stroke is 400mm, a trapezoidal velocity curve is used, and the total lifting time is set to 10s, where acceleration, deceleration, and constant velocity are all approximately 3.33s, the calculation process for the shaft diameter of the lead screw 140 includes: first using the formula... Calculate the maximum speed of the lifting structure 210, where L represents the travel distance of the lifting structure 210, which is 400 mm. It is a constant, specifically, =7.5, and the maximum speed calculated using the above formula is 0.036 m / s; then using the formula Determine the selection requirements for the 140mm diameter lead screw shaft; among which, This indicates the rotational speed of the motor 110 in the drive module 100. The value represents the shaft diameter of lead screw 140, with 60 and 1000 being constants required for unit conversion. The output force of motor 110 must overcome static friction, the reaction force of the metal probe, and the friction of the power plug. The motor speed is selected as 150 r / min, at which point the calculated minimum shaft diameter of lead screw 140 is 14.4 mm. In other words, the selected shaft diameter of lead screw 140 should be greater than or equal to 14.4 mm. Specifically, a lead screw with a shaft diameter of 16 mm or 20 mm can be selected. Furthermore, since the usage frequency of the lifting structure in the drone charging device is related to the number of times the drone is recharged, and the number of recharges per day typically does not exceed 50, the lifespan of lead screw 140 does not need to be a primary consideration.

[0092] The selection of motor 110 in drive module 100 needs to improve the overall working efficiency of the UAV charging device and achieve good economic benefits. Motors commonly used in industrial equipment are divided into two categories: servo motors and stepper motors. Servo motors offer closed-loop control and superior precision, while stepper motors are superior in terms of price and ease of control. Users can choose according to their needs. This embodiment takes a stepper motor as an example. The calculation process of the stepper motor's torque includes: using the formula... Calculate the number of operating pulses of the stepper motor, where A represents the number of operating pulses of the stepper motor. This indicates the displacement corresponding to each revolution of the stepper motor. This represents the step angle of a stepper motor; expressed by the formula... Calculate the acceleration time, where, The positioning time is set to 15 seconds, and the acceleration and deceleration times are generally set to 25% of the positioning time; this is achieved through the formula... Calculate the operating pulse speed of the stepper motor ,in, This indicates the starting pulse speed, with a value of 0; (using the formula...) Calculate the axial load F, where, This indicates the sealing force, with a value of 15N. The coefficient of friction of the sliding surface is 0.05, and m is the total mass of the drone charging device, taken as 25 kg. This indicates the placement of the drone charging device; the drone charging device is placed horizontally. Taking a value of zero, the calculated F = 27.25 N; calculated using the formula... Preload Where 3 represents the load-to-preload distribution ratio coefficient; through the formula Calculate load torque ,in, Indicates efficiency. The internal friction coefficient of the preload nut is 0.3, and i is 1. The calculated load torque is 0.084 N·m. (This is achieved using the formula...) Calculate the moment of inertia of the lead screw ,in, This indicates the density of the lead screw material, with a value of 7.9 × 10⁻⁶. 3 kg / m 3 , This indicates the total length of the lead screw, taken as 540mm. This represents the lead screw shaft diameter, taken as 20mm. The calculated moment of inertia is 0.67 × 10⁻⁶. 4 kg / m 2 ; through formula Calculate the inertia of the drone charging device ; through formula Calculate total inertia ; through formula Calculate acceleration torque ,in, The moment of inertia of a stepper motor is expressed by the formula. Calculate the torque of a stepper motor The torque-speed curve of a stepper motor is as follows: Figure 10 As shown, Figure 10 The horizontal axis represents the rotational speed, and the vertical axis represents the torque. The rectangle within the rectangle represents the constant torque zone of the stepper chainsaw.

[0093] The control module 400 in the drone charging device can be a PLC. By using the PLC's subroutine call function, the entire control flow of the control module can be programmed into corresponding call instructions in the main control program of the control module, thus achieving automated control of the entire control flow.

[0094] In one specific embodiment, the control module 400 can use a variable register to record key position and status parameters of the lifting platform 220. For example, it can record the current position, target position, and movement speed of the lifting platform. The target position can be calculated and determined based on the distance between the underside of the drone to be charged and the lifting platform 220 detected by the ranging sensor. Simultaneously, the variable register can also record real-time data from the pressure sensor, preset thresholds, the landing signal of the drone to be charged, the reset signal of the lifting structure 210, and the charging completion indicator of the drone to be charged. This allows the control module 400 to adjust the movement of the lifting structure in real time based on feedback from the sensor module, achieving precise closed-loop control. This simplifies the mechanical structure of the drone charging device while ensuring the stability and reliability of the wireless charging process.

[0095] Please see Figure 11 This application provides a control method for a drone charging device, which is applied to the drone charging device provided in the above embodiment. This embodiment illustrates the application of this control method to a control module in a drone charging device. The steps of the control method include:

[0096] Step 1101: When it is detected that the drone to be charged is parked on the lifting platform in the drone charging device, the drive module in the drone charging device is controlled to drive the lifting structure in the drone charging device to move so that the wireless transmitting coil on the lifting platform makes contact with the wireless receiving coil on the drone to be charged.

[0097] The sensing module in the drone charging device can detect the parking status of the drone to be charged on the lifting platform and transmit this information to the main control module. Upon receiving the parking status data, if the control module determines that the drone is indeed parked on the lifting platform, it controls the drive module to move the lifting structure, supporting the platform to move towards the drone, so that the wireless transmitting coil on the lifting platform makes contact with the wireless receiving coil on the drone's underside. If the control module determines that no drone is parked on the lifting platform, it continues to acquire the parking status data detected by the sensing module.

[0098] Step 1102: When it is detected that the wireless receiving coil and the wireless transmitting coil are in close contact, the control drive module drives the lifting structure to stop moving.

[0099] The sensing module in the drone charging device can detect the contact between the wireless receiving coil on the underside of the drone and the wireless transmitting coil on the lifting platform. Upon receiving the contact information, if the control module determines that the wireless receiving and transmitting coils are in close contact, it controls the drive module to stop the lifting structure, allowing the wireless receiving and transmitting coils to couple and connect, thus charging the drone. If the control module determines that the wireless receiving and transmitting coils are not in close contact, it controls the drive module to continue moving the lifting structure.

[0100] The control method for a drone charging device provided in this application embodiment, when applied to the drone charging device as described in the above embodiment, possesses all the beneficial effects of the drone charging device, which will not be elaborated further here. Furthermore, in this embodiment, when the drone to be charged is detected to be parked on the lifting platform, the control drive module drives the lifting structure to move, so that the wireless transmitting coil on the lifting platform contacts the wireless receiving coil on the drone to be charged; when the wireless receiving coil and the wireless transmitting coil are detected to be in close contact, the control drive module drives the lifting structure to stop moving. This automatically achieves charging of the drone to be charged, meeting the continuous operation requirements of efficient drone recharging, thereby improving the practicality and reliability of the control method for the drone charging device.

[0101] In one embodiment, such as Figure 12 As shown, after detecting that the drone to be charged is parked on the lifting platform in the drone charging device, the control method further includes:

[0102] Step 1201: Obtain the distance between the drone to be charged and the lifting platform.

[0103] If the control module determines that the drone to be charged is parked on the lifting platform, it obtains the distance between the underside of the drone and the lifting platform detected by the ranging module in the sensing module.

[0104] Given the distance between the drone to be charged and the lifting platform, one implementation involves controlling the drive module in the drone charging device to drive the movement of the lifting structure in the drone charging device. This implementation includes:

[0105] Step 1202: Based on the distance, control the drive module to drive the lifting structure to move.

[0106] After acquiring the distance between the drone to be charged and the lifting platform, the control module can control the drive module to move the lifting structure based on this distance. It can be understood that the control module can use this distance to control information such as the speed at which the drive module moves the lifting structure.

[0107] In this embodiment, after detecting that the drone to be charged is parked on the lifting platform in the drone charging device, the distance between the drone to be charged and the lifting platform is obtained, and the driving module is controlled to drive the lifting structure to move based on the distance. This can more accurately control the movement of the lifting structure, thereby improving the reliability of the control method.

[0108] In one embodiment, the sensing module can characterize the contact between the wireless receiving coil on the underside of the drone and the wireless transmitting coil on the lifting platform by detecting pressure data between the underside of the drone and the lifting platform. Based on this, as... Figure 13 As shown, the control method also includes:

[0109] Step 1301: Obtain pressure data from the pressure sensor in the sensing module of the drone charging device.

[0110] The sensing module in the drone charging device includes a pressure sensor. This sensor detects the pressure data between the underside of the drone and the lifting platform, and transmits this pressure data to the control module. The control module then acquires this pressure data.

[0111] Step 1302: When the pressure data reaches the preset threshold, ensure that the wireless receiving coil and the wireless transmitting coil are in close contact.

[0112] The preset threshold can be stored in the control module. After receiving the pressure data, the control module compares the pressure data with the preset threshold. If the pressure data is greater than or equal to the preset threshold, the wireless receiving coil and the wireless transmitting coil are confirmed to be in close contact.

[0113] Step 1303: If the pressure data does not reach the preset threshold, determine that the wireless receiving coil and the wireless transmitting coil are not in close contact.

[0114] If the control module determines that the pressure data is less than the preset threshold by comparing the pressure data with the preset threshold, it then determines that the wireless receiving coil and the wireless transmitting coil are not in close contact.

[0115] In this embodiment, pressure data from the pressure sensor in the sensing module of the drone charging device is acquired. If the pressure data reaches a preset threshold, it is determined that the wireless receiving coil and the wireless transmitting coil are in close contact. If the pressure data does not reach the preset threshold, it is determined that the wireless receiving coil and the wireless transmitting coil are not in close contact. This method of determining the contact status between the wireless receiving coil and the wireless transmitting coil is quick and easy to implement, and can improve the practicality of the control method of the drone charging device.

[0116] Please see Figure 14One embodiment of this application provides a control method for a drone charging device, the steps of which include:

[0117] Step 1401: Obtain the detection information from the infrared beam sensor and determine the parking status of the drone to be charged on the lifting platform based on the detection information;

[0118] Step 1402: When the drone to be charged is parked on the lifting platform, obtain the initial distance between the underside of the drone to be charged and the lifting platform as detected by the ranging sensor.

[0119] Step 1403: Drive the lifting structure to move according to the initial distance control drive module;

[0120] Step 1404: During the movement of the lifting structure, acquire in real time the pressure data between the belly of the UAV to be charged and the lifting platform detected by the pressure sensor;

[0121] Step 1405: Determine whether the pressure data has reached the preset threshold;

[0122] Step 1406: When the pressure data reaches the preset threshold, ensure that the wireless receiving coil at the belly of the drone to be charged and the wireless transmitting coil on the lifting platform are in close contact, and control the drive module to drive the lifting structure to stop moving.

[0123] Step 1406: If the pressure data does not reach the preset threshold, determine that the wireless receiving coil and the wireless transmitting coil are not in close contact.

[0124] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0125] Based on the same inventive concept, this application also provides a control device for a drone charging device that implements the control method for the drone charging device described above. The solution provided by this device is similar to the implementation described in the above method. Therefore, the specific limitations in one or more embodiments of the control device for a drone charging device provided below can be found in the limitations of the control method for the drone charging device described above, and will not be repeated here.

[0126] In one embodiment, such as Figure 15 As shown, a control device for a drone charging device is provided, comprising: a detection module 11 and a control module 12, wherein:

[0127] The detection module is used to control the drive module in the drone charging device to drive the lifting structure in the drone charging device to move when the drone to be charged is detected to be parked on the lifting platform in the drone charging device, so as to make the wireless transmitting coil on the lifting platform contact the wireless receiving coil on the drone to be charged.

[0128] The control module is used to control the drive module to stop the lifting structure from moving when the wireless receiving coil and the wireless transmitting coil are detected to be in close contact.

[0129] In one embodiment, the control device further includes an acquisition module. The acquisition module is used to acquire the distance between the drone to be charged and the lifting platform; specifically, the control module is used to control the drive module to drive the lifting structure to move based on the distance.

[0130] In one embodiment, the control device further includes a determining module. The acquiring module is further configured to acquire pressure data from a pressure sensor in the sensing module of the drone charging device; the determining module is configured to determine that the wireless receiving coil and the wireless transmitting coil are in close contact if the pressure data reaches a preset threshold; and to determine that the wireless receiving coil and the wireless transmitting coil are not in close contact if the pressure data does not reach the preset threshold.

[0131] The various modules in the control device of the aforementioned drone charging device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0132] In one embodiment, a computer device is provided, which may be a control module, and its internal structure diagram may be as follows: Figure 16As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a control method for a drone charging device. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0133] Those skilled in the art will understand that Figure 16 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0134] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0135] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0136] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A drone charging device, characterized in that, include: The system includes a drive module, a lifting module, a sensing module, and a control module. The lifting module includes a lifting structure and a lifting platform. A wireless transmitting coil is provided on the lifting platform. The sensing module is provided on the lifting platform. The drive module is connected to the lifting structure. The control module is connected to the drive module and the sensing module. The lifting structure is used to support the lifting platform, and the wireless transmitting coil on the lifting platform is used to connect with the wireless receiving coil of the drone to be charged. The sensing module is used to detect the parking status of the drone to be charged on the lifting platform, as well as the contact status between the wireless receiving coil and the wireless transmitting coil, and to send the parking status and the contact status to the control module. The control module is configured to control the drive module to drive the lifting structure to move when the drone to be charged is parked on the lifting platform, so that the wireless receiving coil makes contact with the wireless transmitting coil, and to control the drive module to stop the lifting structure when the wireless receiving coil and the wireless transmitting coil are in close contact.

2. The drone charging device according to claim 1, characterized in that, The lifting platform includes a base plate and side plates, as well as a connecting plate connecting the base plate and the side plates. There is an included angle between the base plate and the side plates, which is greater than 90 degrees and less than 180 degrees. The base plate is equipped with the wireless transmitting coil, and the connecting plate is used to support the landing gear of the drone to be charged.

3. The drone charging device according to claim 2, characterized in that, A cushioning pad is provided on the side of the base plate closest to the drone to be charged, and a cushioning pad is provided on the side of the connecting plate closest to the drone to be charged.

4. The drone charging device according to claim 2, characterized in that, The base plate includes a sub-plate and a planar frame, the sub-plate and the planar frame are connected, the wireless transmitting coil is provided on the sub-plate, and the planar frame is equipped with a stainless steel mesh.

5. The drone charging device according to claim 2, characterized in that, The sensing module includes an infrared beam sensor, a ranging sensor, and a pressure sensor. The infrared beam sensor is disposed on the side of the base plate close to the drone to be charged, and the ranging sensor and the pressure sensor are both disposed on the base plate.

6. The drone charging device according to any one of claims 1-5, characterized in that, The drive module includes a motor, a reducer, a coupling, and a lead screw. The output shaft of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the lead screw through the coupling.

7. The drone charging device according to claim 6, characterized in that, The lifting structure includes a bearing housing, multiple connecting rods, and multiple connecting members. The lead screw is mounted on the bearing housing and is connected to the first end of the multiple connecting rods through the connecting members. The second end of the multiple connecting rods is connected to the lifting platform.

8. A control method for a drone charging device, characterized in that, The control method, applied to the drone charging device as described in any one of claims 1-7, comprises: When it is detected that the drone to be charged is parked on the lifting platform in the drone charging device, the drive module in the drone charging device is controlled to drive the lifting structure in the drone charging device to move, so that the wireless transmitting coil on the lifting platform makes contact with the wireless receiving coil on the drone to be charged. If the wireless receiving coil and the wireless transmitting coil are detected to be in close contact, the drive module is controlled to stop the lifting structure from moving.

9. The control method according to claim 8, characterized in that, After detecting that the drone to be charged is parked on the lifting platform in the drone charging device, the control method further includes: Obtain the distance between the drone to be charged and the lifting platform; The control of the drive module in the drone charging device to drive the lifting structure in the drone charging device to move includes: Based on the distance, the drive module is controlled to drive the lifting structure to move.

10. The control method according to claim 8, characterized in that, The control method further includes: Obtain pressure data from the pressure sensor in the sensing module of the drone charging device; When the pressure data reaches a preset threshold, it is determined that the wireless receiving coil and the wireless transmitting coil are in close contact. If the pressure data does not reach the preset threshold, it is determined that the wireless receiving coil and the wireless transmitting coil are not in close contact.

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