Unmanned aerial vehicle online power taking method and device, computer device, readable storage medium and program product

Abstract

The application relates to a UAV online power taking method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: in the case of establishing a hanging relationship with a UAV, an alternating magnetic field generated by a power transmission wire is sensed by an electromagnetic induction component to obtain induced power; the electromagnetic induction component comprises a composite magnetic core and at least one power taking coil wound on the composite magnetic core; the composite magnetic core is used for magnetic field coupling of the alternating magnetic field generated by the power transmission wire, and the power taking coil is used for sensing the alternating magnetic flux in the composite magnetic core to obtain the induced power; the induced power is subjected to electric energy conversion to obtain target direct current power meeting preset power supply conditions; and the target direct current power is output to the UAV. The method can improve power taking stability and power taking efficiency.

Description

Technical Field

[0001] This application relates to the field of power system technology, and in particular to a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for online power collection by unmanned aerial vehicles (UAVs). Background Technology

[0002] With the development of drone technology and intelligent inspection technology for power transmission lines, drones, with their high mobility, wide inspection range, and high operating efficiency, are increasingly being used for routine inspections and fault monitoring of power transmission lines. To extend the continuous operating time of drones, a technology has emerged that utilizes the alternating magnetic field surrounding power transmission lines for online power extraction. This technology involves installing a magnetic core and a power extraction coil on the drone, allowing the coil to sense the alternating magnetic field generated by the power transmission line and obtain electrical energy, thereby powering the drone's battery or onboard equipment.

[0003] In traditional technology, an inductive power harvesting device is usually attached to a power transmission line. The alternating magnetic field around the power transmission line is coupled through a magnetic core, and an inductive power harvesting coil wound around the magnetic core is used to generate induced electrical energy. Subsequently, the induced electrical energy output from the inductive power harvesting coil is rectified and regulated to obtain DC power that can be used by the drone.

[0004] However, the current in transmission lines is prone to fluctuations with line load, causing fluctuations in the induced voltage and power output of the power-harvesting coil. Simultaneously, the magnetic core and power-harvesting coil in traditional inductive power-harvesting devices often struggle to simultaneously balance magnetic field coupling capability and energy loss, leading to problems such as poor magnetic field coupling, high core and coil losses. Therefore, traditional on-line power harvesting methods for drones suffer from low power harvesting stability and efficiency. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for online power collection of unmanned aerial vehicles (UAVs) that can improve power collection stability and efficiency, in order to address the aforementioned technical problems.

[0006] Firstly, this application provides a method for online power generation for unmanned aerial vehicles (UAVs), including:

[0007] When a connection is established with a drone, an electromagnetic induction component senses the alternating magnetic field generated by the power transmission line to obtain induced electrical energy. The electromagnetic induction component includes a composite magnetic core and at least one power-collecting coil wound around the composite magnetic core. The composite magnetic core is used to perform magnetic field coupling on the alternating magnetic field generated by the power transmission line, and the power-collecting coil is used to sense the alternating magnetic flux in the composite magnetic core to obtain the induced electrical energy.

[0008] The induced electrical energy is converted into electrical energy to obtain a target DC power that meets the preset power supply conditions;

[0009] The target DC power is output to the UAV.

[0010] In one embodiment, the step of converting the induced electrical energy into target DC power that meets preset power supply conditions includes:

[0011] The induced electrical energy is rectified to obtain the DC power to be regulated;

[0012] The DC power to be adjusted is boosted or bucked to obtain the target DC power that meets the preset power supply conditions.

[0013] In one embodiment, the process of determining the target coil parameters of the power-taking coil includes:

[0014] Determine the initial coil parameters corresponding to the power-taking coil;

[0015] The initial coil parameters are optimized to obtain reference coil parameters; the parameter optimization includes at least one of multiphysics coupling optimization, parasitic parameter and high-frequency response optimization, and loss optimization under non-ideal operating conditions.

[0016] Based on the reference coil parameters, the power extraction performance of the power extraction coil was simulated and experimentally verified to obtain the performance verification results.

[0017] If the performance verification results meet the preset performance conditions, the reference coil parameters are determined as the target coil parameters.

[0018] In one embodiment, the step of optimizing the initial coil parameters to obtain reference coil parameters includes:

[0019] The initial coil parameters are input into a multiphysics coupling simulation model to simulate the power extraction performance of the power extraction coil and obtain a first performance simulation result. Based on the first performance simulation result, the initial coil parameters are adjusted to obtain the first coil parameters. The multiphysics coupling simulation model is established based on the transmission conductor, the composite magnetic core, and the power extraction coil.

[0020] Based on the first coil parameters, the parasitic parameters and high-frequency response of the power-taking coil are analyzed to obtain the second performance simulation results. The first coil parameters are then adjusted according to the second performance simulation results to obtain the second coil parameters.

[0021] Under preset non-ideal operating conditions, the power-taking coil is subjected to loss simulation based on the second coil parameters to obtain loss simulation results. The second coil parameters are then adjusted according to the loss simulation results to obtain the reference coil parameters.

[0022] In one embodiment, the method further includes:

[0023] If the performance verification result does not meet the preset performance conditions, the initial coil parameters are adjusted according to the performance verification result, and the parameter optimization process and power supply performance verification steps are repeated until the performance verification result meets the preset performance conditions, and the target coil parameters are obtained.

[0024] In one embodiment, the method is applied to an online power supply system; the method further includes:

[0025] When the drone is charging, the online power supply system is controlled to form a power transmission loop with the drone and output power to the drone.

[0026] When the drone is not charging, the power transmission circuit between the online power supply system and the drone is disconnected, so that the input terminal of the online power supply system is in an open circuit state.

[0027] In one embodiment, the method is applied to an online power supply system; the method further includes:

[0028] Determine the load resistance based on the drone's load requirements;

[0029] Based on the preset output power, the initial values ​​of the DC input voltage and the conversion coefficient are determined, and based on the load resistance, the DC input voltage, and the conversion coefficient, the actual output power of the online power supply system is determined.

[0030] When the actual output power meets the preset output power, the initial value of the coupling capacitor is determined according to the installation space of the online power supply system, and the initial value of the system operating frequency is determined.

[0031] Based on the coupling capacitor, the system operating frequency, and the preset resonance relationship, the resonant inductor parameters and compensation capacitor parameters corresponding to the online power supply system are determined.

[0032] Based on the resonant inductor parameters, the compensation capacitor parameters, and the system operating frequency, the performance of the online power supply system is verified. When the performance verification results meet the preset design conditions, the resonant inductor parameters, the compensation capacitor parameters, the system operating frequency, and the coupling capacitor are determined as the target system parameters of the online power supply system.

[0033] Secondly, this application also provides an online power supply device for unmanned aerial vehicles (UAVs), the device comprising:

[0034] The sensing module is used to obtain induced electrical energy by sensing the alternating magnetic field generated by the power transmission line through an electromagnetic induction component when a connection is established with the UAV; the electromagnetic induction component includes a composite magnetic core and at least one power-collecting coil wound on the composite magnetic core; the composite magnetic core is used to magnetically couple the alternating magnetic field generated by the power transmission line, and the power-collecting coil is used to sense the alternating magnetic flux in the composite magnetic core to obtain the induced electrical energy;

[0035] The conversion module is used to convert the induced electrical energy into electrical energy through the power conversion module to obtain the target DC power that meets the preset power supply conditions;

[0036] The power supply module is used to output the target DC power to the UAV through the power supply interface module.

[0037] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method in any of the above embodiments.

[0038] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0039] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0040] The aforementioned online power harvesting method, device, computer equipment, computer-readable storage medium, and computer program product for UAVs utilize a composite magnetic core to couple the alternating magnetic field generated by the transmission line, and induce the alternating magnetic flux in the composite magnetic core through a power harvesting coil wound around the composite magnetic core. This enhances the coupling effect between the alternating magnetic field and the power harvesting coil. Simultaneously, by converting the obtained induced electrical energy into electrical energy, the impact of current fluctuations in the transmission line on the output electrical energy can be reduced, thereby improving the stability and efficiency of online power harvesting for UAVs. Attached Figure Description

[0041] 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.

[0042] Figure 1 This is an application environment diagram of the online power supply method for unmanned aerial vehicles in one embodiment;

[0043] Figure 2 This is a flowchart illustrating an online power supply method for a drone in one embodiment;

[0044] Figure 3 This is a schematic diagram of the composite magnetic core in one embodiment;

[0045] Figure 4 This is a schematic diagram of the magnetic core structure in another embodiment;

[0046] Figure 5 This is a comparison chart of switching losses in one embodiment;

[0047] Figure 6 This is a comparison diagram of magnetic flux distribution before and after the suppression coil is set in one embodiment;

[0048] Figure 7 This is an optimization process for the power extraction coil parameters in one embodiment;

[0049] Figure 8 This is a schematic diagram of an online charging system in one embodiment;

[0050] Figure 9 This is an equivalent circuit diagram of the online power supply system under full load in one embodiment;

[0051] Figure 10 for Figure 9 To simplify the equivalent circuit diagram;

[0052] Figure 11 This is an equivalent circuit diagram of the online power supply system under no-load conditions in one embodiment;

[0053] Figure 12 This is a schematic diagram illustrating the determination of parameters for an online power supply system in one embodiment;

[0054] Figure 13 This is a structural block diagram of an online power supply device in one embodiment;

[0055] Figure 14 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0056] 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.

[0057] The online power supply method for drones provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown includes a drone 102 and an online power supply device 104. When the drone 102 needs to draw power, it can connect to the online power supply device 104. The online power supply device 104 obtains electrical energy, converts it into target DC power that meets the power supply requirements of the drone 102, and then outputs the target DC power to the drone 102 to power its battery and / or onboard electrical equipment.

[0058] In one exemplary embodiment, such as Figure 2 As shown, an online power supply method for unmanned aerial vehicles (UAVs) is provided, which can be applied to... Figure 1 The following description uses the online power supply device 104 as an example, including steps 202 to 206. Wherein:

[0059] Step 202: When a connection is established with the UAV, the alternating magnetic field generated by the power transmission line is sensed by the electromagnetic induction component to obtain induced electrical energy; the electromagnetic induction component includes a composite magnetic core and at least one power extraction coil wound on the composite magnetic core; the composite magnetic core is used to perform magnetic field coupling on the alternating magnetic field generated by the power transmission line, and the power extraction coil is used to sense the alternating magnetic flux in the composite magnetic core to obtain induced electrical energy.

[0060] The "attachment relationship" refers to the mechanical and / or electrical connection between the drone and the online power supply device. The online power supply device can be pre-installed on the power transmission line, and the electromagnetic induction component in the online power supply device forms a power-collecting position relationship with the power transmission line.

[0061] For example, when a drone needs to replenish its power, it can fly to the location of the online power supply device and connect its power-collecting end to the power interface on the online power supply device. The online power supply device can establish a connection with the drone through clamping, snapping, locking, or other connection structures to maintain the relative positional stability between the drone and the online power supply device and to establish a power transmission path between the online power supply device and the drone.

[0062] Once the online power-harvesting device is connected to the drone, the composite magnetic core focuses and couples the alternating magnetic field generated by the alternating current in the transmission line, causing the alternating magnetic field to form an alternating magnetic flux within the composite magnetic core. The power-harvesting coil wound around the composite magnetic core induces the alternating magnetic flux and generates induced voltage and induced current based on electromagnetic induction, thereby obtaining induced electrical energy.

[0063] Optionally, the composite magnetic core can be arranged around the transmission line or at a predetermined power extraction location around the transmission line to improve the magnetic field coupling between the alternating magnetic field generated by the transmission line and the power extraction coil. The number of coils, number of turns, wire diameter, and winding position can be determined based on the output power, power extraction efficiency, allowable temperature rise, and installation space of the online power extraction device.

[0064] For example, in combination Figure 3 , Figure 3 For the selected coupling mechanism with a suppression coil under the influence of the metal plate, a reverse winding coil is added outside the main coil. Its inner diameter is g, its outer diameter is , and the gap between the reverse winding suppression coil and the main coil is a4=gc.

[0065] For example, combined Figure 4 , Figure 4 Three composite magnetic core structures are shown. Among them, Figure 4 (a) is a stacked composite magnetic core structure, which is formed by layering different magnetic materials to combine the permeability and loss characteristics of different magnetic materials; Figure 4 (b) is a hybrid composite magnetic core structure, which is formed by mixing two or more magnetic materials in a preset ratio to achieve a balance between magnetic permeability and magnetic core loss; Figure 4 (c) is a distributed air-gap composite magnetic core structure. This structure incorporates multiple distributed air gaps to reduce the likelihood of magnetic saturation in the composite magnetic core. In practical applications, one of the three composite magnetic core structures can be selected as the composite magnetic core for the electromagnetic induction component, based on the power requirements of the UAV's online power supply device, installation space, current variation range of the transmission line, and environmental conditions.

[0066] Step 204: Convert the induced electrical energy into electrical energy to obtain the target DC power that meets the preset power supply conditions.

[0067] In this context, induced electrical energy is the alternating current energy generated by the induced magnetic flux in the composite magnetic core of the power extraction coil. Because the current in the transmission line fluctuates with changes in line load, the induced voltage output by the power extraction coil also changes accordingly. Therefore, induced electrical energy cannot typically be directly used to power drones. Preset power supply conditions can be determined based on the power supply requirements of the drone battery or onboard electrical equipment. For example, these conditions may include at least one of the following: the output voltage is within a preset voltage range, the output current does not exceed a preset current threshold, and the output power meets a preset power requirement.

[0068] Optionally, the above-mentioned conversion of induced electrical energy into target DC power that meets preset power supply conditions includes: rectifying the induced electrical energy to obtain DC power to be regulated; and performing boost or buck conversion on the DC power to be regulated to obtain target DC power that meets preset power supply conditions.

[0069] Specifically, the induced electrical energy can first be rectified to convert the AC energy output from the power coil into DC power to be regulated. Then, based on the voltage of the DC power to be regulated and the target power supply voltage corresponding to the UAV, the DC power to be regulated can be boosted or bucked to obtain the target DC power that meets the preset power supply conditions. For example, when the voltage of the DC power to be regulated is lower than the target power supply voltage, the DC power to be regulated can be boosted; when the voltage of the DC power to be regulated is higher than the target power supply voltage, the DC power to be regulated can be bucked.

[0070] For example, a buck-boost topology can be used to boost or buck the DC power supply to be regulated. Since the current in the transmission line changes with the line load, the induced voltage output by the current-taking coil also changes accordingly. Therefore, the rectified DC power supply to be regulated may have a wide voltage variation range. The buck-boost topology can adjust its operating state according to the voltage variation of the DC power supply to be regulated and output the target DC power supply voltage that meets the target supply voltage requirements within a wide input voltage range, thereby reducing the impact of transmission line current fluctuations on the power supply process of the UAV.

[0071] Optionally, to reduce switching losses and electromagnetic interference during power conversion, soft-switching technology can be employed in the buck-boost topology. Specifically, the switching device can be controlled to turn on when the voltage across it is close to zero, and / or turn off when the current flowing through it is close to zero, thereby reducing the overlap of voltage and current during the switching process, thus reducing switching losses and electromagnetic interference, and improving power conversion efficiency.

[0072] Optionally, the input voltage of the DC power to be regulated, as well as the output voltage and output current of the target DC power, can be detected, and the operating state of the buck-boost topology can be adjusted according to the detection results. When the input voltage, output voltage, or output current is detected to meet preset abnormal conditions, the output of the target DC power to the UAV can be stopped to achieve overvoltage protection and / or overcurrent protection, ensuring the safety of the UAV battery and onboard electrical equipment.

[0073] For example, in combination Figure 5 , Figure 5 (a) illustrates the hard switching process, in which the voltage across the switching device overlaps with the current flowing through the switching device during the switching process, resulting in significant switching losses. Figure 5 (b) illustrates a soft-switching process that reduces voltage and current overlap and thus reduces switching losses by turning on the switching device after the voltage across it drops to zero and / or turning it off after the current flowing through it drops to zero.

[0074] Step 206: Output DC power from the target device to the drone.

[0075] Specifically, after the online power supply device establishes a connection with the drone, the power supply interface of the online power supply device can establish an electrical connection with the power supply interface of the drone. The online power supply device outputs the target DC power obtained through power conversion to the drone through the power supply interface to provide power for the drone's battery and / or onboard electrical equipment.

[0076] In the above embodiments, the alternating magnetic field generated by the transmission line is coupled by the composite magnetic core, and the alternating magnetic flux in the composite magnetic core is induced by the power-collecting coil wound around the composite magnetic core, which can improve the coupling effect between the alternating magnetic field and the power-collecting coil. At the same time, by converting the obtained induced electrical energy into electrical energy, the influence of the current fluctuation of the transmission line on the output electrical energy can be reduced, thereby improving the stability and efficiency of the UAV's online power collection.

[0077] In one embodiment, the target coil parameters used by the aforementioned power-harvesting coil to obtain induced electrical energy from the alternating magnetic field generated by the transmission line are determined in advance through parameter optimization and performance verification. The process of determining the target coil parameters includes: determining the initial coil parameters corresponding to the power-harvesting coil; performing parameter optimization on the initial coil parameters to obtain reference coil parameters; the parameter optimization process includes at least one of multi-physics coupling optimization, parasitic parameter and high-frequency response optimization, and loss optimization under non-ideal operating conditions; based on the reference coil parameters, simulating and experimentally verifying the power-harvesting performance of the power-harvesting coil to obtain performance verification results; and determining the reference coil parameters as the target coil parameters if the performance verification results meet preset performance conditions.

[0078] The coil parameters may include at least one of the following: number of coil turns, wire diameter, number of winding layers, turn spacing, winding width, and winding position.

[0079] Optionally, the initial coil parameters corresponding to the power-taking coil can be determined according to the preset design requirements. The preset design requirements may include at least one of the following: target output voltage, target output power, target power extraction efficiency, allowable temperature rise, and installation space. For example, the number of coil turns can be initially determined based on the target output power required by the online power-taking device; the wire diameter, number of winding layers, and winding width can be initially determined based on the allowable temperature rise and installation space, thereby obtaining the initial coil parameters.

[0080] Subsequently, the initial coil parameters can be optimized by at least one of the following methods: multi-physics coupling optimization, parasitic parameter and high-frequency response optimization, and loss optimization under non-ideal operating conditions, to obtain the reference coil parameters.

[0081] Among them, multi-physics coupling optimization refers to establishing a coupled simulation model of electromagnetic field, thermal field and / or force field based on the transmission conductor, composite magnetic core and power extraction coil, analyzing the magnetic flux density distribution, induced voltage, output power, coil loss, magnetic core loss, temperature rise distribution and mechanical stress state under different coil parameters, and adjusting the initial coil parameters according to the analysis results.

[0082] Parasitic parameter and high-frequency response optimization refers to analyzing the influence of parasitic parameters such as inter-turn parasitic capacitance, inter-layer parasitic capacitance, leakage inductance, and AC resistance of the power extraction coil on the impedance characteristics, resonance characteristics, and energy loss of the power extraction coil, and adjusting the number of coil turns, wire diameter, number of winding layers, and / or winding spacing based on the analysis results.

[0083] Loss optimization under non-ideal operating conditions refers to analyzing the coil loss, core loss, and output power of the power-harvesting coil under non-ideal operating conditions such as line load fluctuations, ambient temperature changes, composite core air gap changes, conductor swaying, vibration of online power-harvesting devices, and / or UAV load changes, and adjusting the coil parameters to reduce the energy loss of the online power-harvesting device while meeting preset output requirements.

[0084] Optionally, during multiphysics coupling optimization, the influence of the surrounding metal structure on the magnetic field distribution of the power-harvesting coil can also be analyzed. For example, a reverse-wound suppression coil can be placed outside the main coil, and a simulation model including the main coil, the suppression coil, and the metal plate can be established to analyze the suppression effect of the suppression coil on the magnetic field distortion and additional losses caused by the metal structure. For example, combined with... Figure 6The metal plate can be set as a square with a side length of 150 mm, an opening radius of 100 mm, a transmission distance of 50 mm between the coil and the metal plate, and a coil current of 1 ampere. With other parameters unchanged, a corresponding simulation model can be established to obtain the magnetic flux distribution before and after the suppression coil is added to the main coil. By comparing the magnetic flux distribution under different structures, the structural parameters of the suppression coil can be determined, and the coil parameters of the power-taking coil can be adjusted accordingly.

[0085] Optionally, after determining the reference coil parameters, the power extraction performance of the power extraction coil can be simulated and experimentally verified based on the reference coil parameters. Specifically, a simulation model including the transmission conductor, composite magnetic core, and power extraction coil can be established based on the reference coil parameters to obtain the simulated output voltage, simulated output power, simulated loss, and / or simulated temperature rise of the power extraction coil. Alternatively, a power extraction coil sample can be fabricated based on the reference coil parameters, and the actual output voltage, actual output power, actual loss, and / or actual temperature rise of the power extraction coil sample can be measured under preset line current and preset load conditions.

[0086] By comparing the simulation data and experimental data corresponding to the power extraction coil, performance verification results can be obtained. These results can be used to characterize the deviation between the simulation and experimental data, and whether the actual power extraction performance of the power extraction coil meets the preset design requirements.

[0087] Furthermore, if the performance verification results meet the preset performance conditions, the reference coil parameters are determined as the target coil parameters. The preset performance conditions may include at least one of the following: the deviation between simulation data and experimental data is not greater than a preset deviation threshold; the actual output power is not less than a preset power threshold; the actual power extraction efficiency is not less than a preset efficiency threshold; and the actual temperature rise is not greater than a preset temperature rise threshold.

[0088] In the above embodiments, by performing multi-physics field, parasitic parameter, high-frequency response and loss analysis under non-ideal working conditions on the initial coil parameters, and verifying the optimized coil parameters by combining simulation results and experimental results, the final determined target coil parameters can take into account output power, energy loss, temperature rise and adaptability to complex working conditions, thereby improving the power extraction efficiency and power extraction stability of the power extraction coil.

[0089] Furthermore, the initial coil parameters are optimized to obtain reference coil parameters, including: inputting the initial coil parameters into a multiphysics coupling simulation model, performing power extraction performance simulation on the power extraction coil to obtain a first performance simulation result, and adjusting the initial coil parameters based on the first performance simulation result to obtain the first coil parameters; the multiphysics coupling simulation model is established based on the transmission conductor, composite magnetic core, and power extraction coil; based on the first coil parameters, the parasitic parameters and high-frequency response of the power extraction coil are analyzed to obtain a second performance simulation result, and the first coil parameters are adjusted based on the second performance simulation result to obtain the second coil parameters; under a preset non-ideal operating condition, loss simulation is performed on the power extraction coil based on the second coil parameters to obtain loss simulation results, and the second coil parameters are adjusted based on the loss simulation results to obtain the reference coil parameters.

[0090] In this embodiment, the parameter optimization process is performed in a preset order: first, the initial coil parameters are optimized by multi-physics coupling; then, the parasitic parameters and high-frequency response of the first coil parameters obtained by multi-physics coupling optimization are optimized; and finally, the loss of the second coil parameters obtained by parasitic parameters and high-frequency response optimization is optimized under preset non-ideal operating conditions.

[0091] For example, combined Figure 7 , Figure 7 This is an example of the optimization process for the power extraction coil parameters. First, based on the overall CT performance improvement requirements, the optimization targets for the power extraction coil parameters are determined. These overall CT performance improvement requirements refer to the performance design requirements for the electromagnetic induction components, including the composite magnetic core and the power extraction coil. These requirements may include at least one of the following: target output voltage, target output power, target power extraction efficiency, allowable losses, allowable temperature rise, magnetic saturation limitation, installation space, and output stability under complex operating conditions.

[0092] Subsequently, three stages of optimization were performed sequentially: the first stage involved multi-physics coupling optimization to analyze electromagnetic losses, temperature rise distribution, and mechanical stress state during the power extraction process; the second stage involved parasitic parameter and high-frequency response optimization to reduce the impact of parasitic parameters on power extraction performance; and the third stage involved loss optimization under non-ideal operating conditions to reduce energy losses under complex operating conditions such as line load fluctuations and improve the power extraction efficiency and stability of the power extraction coil.

[0093] Optionally, in the process of optimizing the power extraction coil parameters, the controlled variable method can be used to change the number of coil turns, wire diameter, number of winding layers, turn spacing and / or winding position, and while keeping other coil parameters unchanged, determine the impact of the currently changed coil parameters on at least one of the following performance parameters: power extraction efficiency, output voltage, output power, coil loss and temperature rise, so as to obtain the relationship between each coil parameter and the corresponding performance parameter.

[0094] Furthermore, by combining the optimization results of multi-physics coupling, parasitic parameters and high-frequency response, and loss optimization results under non-ideal operating conditions, a multi-objective optimization function can be established based on the relationship between each coil parameter and its corresponding performance parameter. At least two of the following can be used as optimization objectives: output voltage, output power, power extraction efficiency, coil loss, and temperature rise. Multiple coil parameters can be combined and optimized to obtain reference coil parameters that meet the requirements for improving the overall performance of the CT under different power extraction conditions.

[0095] Furthermore, in one embodiment, the above method further includes: if the performance verification result does not meet the preset performance conditions, adjusting the initial coil parameters according to the performance verification result, and repeatedly performing the parameter optimization processing and power supply performance verification steps until the performance verification result meets the preset performance conditions to obtain the target coil parameters.

[0096] If the performance verification results do not meet the preset performance conditions, the initial coil parameters can be adjusted based on the performance verification results. For example, when the output voltage or output power of the power-harvesting coil is lower than the corresponding preset threshold, the number of coil turns can be increased and / or the winding position of the power-harvesting coil on the composite magnetic core can be adjusted; when the loss or temperature rise of the power-harvesting coil exceeds the corresponding preset threshold, the wire diameter can be increased, the number of winding layers can be reduced, and / or the turn spacing can be adjusted; when the high-frequency response of the power-harvesting coil does not meet the preset requirements, the number of coil turns, the number of winding layers, and / or the turn spacing can be adjusted to reduce the impact of parasitic parameters on power-harvesting performance. Then, based on the adjusted initial coil parameters, the parameter optimization process and power-harvesting performance verification steps are repeated until the performance verification results meet the preset performance conditions, thus obtaining the target coil parameters.

[0097] In the above embodiments, by making targeted adjustments to the initial coil parameters based on the performance verification results, and repeatedly performing parameter optimization and power extraction performance verification, the blindness of coil parameter adjustment can be reduced, so that the final target coil parameters can simultaneously meet the requirements of output power, energy loss, temperature rise and output stability, thereby improving the power extraction efficiency and power extraction stability of the power extraction coil.

[0098] In one embodiment, the method further includes: when the drone is in a charging state, controlling the online power supply system to form a power transmission circuit with the drone and outputting power to the drone; when the drone is not in a charging state, disconnecting the power transmission circuit between the online power supply system and the drone, so that the input terminal of the online power supply system is in an open circuit state.

[0099] The state of a drone being in a charging state refers to the state in which the drone establishes an electrical connection with the online power supply system and obtains electrical energy through the online power supply system, which is equivalent to the online power supply system being fully loaded.

[0100] For example, in combination with 8, Figure 8 This is a schematic diagram of an online charging system in one embodiment. The power supply Edc, the full-bridge inverter (comprising S1 to S4), resonant inductors L1 to L3, resonant capacitors C1 and C2, and two transmitting plates together constitute the system's power transmitting end. The full-bridge rectifier (VD1 to VD4), filter capacitor Cf, load resistor RL, and two receiving plates constitute the system's power picking end. The DC input of this system is converted into high-frequency AC power after passing through the full-bridge converter and the transmitting end resonant network. Under its influence, an interactive electric field is formed between the two pairs of plates of the coupling mechanism. This interactive electric field generates a displacement current that "flows" through the plates, achieving wireless power transmission.

[0101] Furthermore, combined Figure 9 , Figure 9 This is an equivalent circuit diagram of the online power supply system under full load in one embodiment. When the drone is charging, its charging load is connected to the online power supply system, which operates at full load. At this time, a closed power transmission loop is formed between the online power supply system and the drone, and the electrical energy obtained by the online power supply system is output to the drone through the power transmission loop.

[0102] Furthermore, it is possible to... Figure 9 The full-load equivalent circuit shown is simplified to obtain Figure 10 The simplified equivalent circuit is shown. When the system transformation coefficient k is greater than 1, the equivalent load resistance referred to the input side is 1 / k. 2 That is, the equivalent load resistance is reduced to k times the original value. 2 With a constant input voltage, reducing the equivalent load resistance can increase the power transmitted to the load side by the system, thereby improving the power transmission capability of the online power supply system.

[0103] Combination Figure 11 , Figure 11 This is an equivalent circuit diagram of the online power supply system under no-load conditions in one embodiment. When the drone is in a non-charging state, the drone's charging load is removed from the online power supply system, the power transmission circuit between the online power supply system and the drone is disconnected, and the online power supply system is in an no-load operating state. This suppresses current and voltage overshoots generated by the inverter switching transistors during the drone's charging load disconnection process, improving the operational stability and safety of the online power supply system when switching from a charging state to a non-charging state.

[0104] In the above embodiments, by switching the power transmission circuit according to the charging status of the UAV, normal power supply can be ensured during charging, and ineffective power transmission and voltage and current overshoot can be reduced when not charging, thereby improving the power supply stability and operational safety of the system.

[0105] In one embodiment, the method further includes: determining the load resistance based on the load requirements of the UAV; determining the initial values ​​of the DC input voltage and the transformation coefficient based on the preset output power, and determining the actual output power of the online power supply system based on the load resistance, the DC input voltage, and the transformation coefficient; when the actual output power meets the preset output power, determining the initial value of the coupling capacitor based on the installation space of the online power supply system, and determining the initial value of the system operating frequency; determining the resonant inductor parameters and compensation capacitor parameters corresponding to the online power supply system based on the coupling capacitor, the system operating frequency, and the preset resonance relationship; performing performance verification on the online power supply system based on the resonant inductor parameters, the compensation capacitor parameters, and the system operating frequency, and determining the resonant inductor parameters, the compensation capacitor parameters, the system operating frequency, and the coupling capacitor as the target system parameters of the online power supply system when the performance verification results meet the preset design conditions.

[0106] Exemplary combination Figure 12 Determine the load resistance R based on the load requirements of the drone. L And set the DC input voltage E according to the target output power. dc And the initial value of the transformation coefficient k. Then, based on the load resistance, DC input voltage, and transformation coefficient, the actual output power of the system is calculated, and it is determined whether the actual output power meets the preset output power requirement.

[0107] When the actual output power does not meet the preset output power requirement, adjust the DC input voltage and / or conversion coefficient, and recalculate the actual output power; when the actual output power meets the preset output power requirement, determine the coupling capacitor C based on the installation space of the online power supply system. s The initial value of f is determined, and the initial value of the system operating frequency f is determined based on engineering experience.

[0108] Subsequently, L1, L2, L3, C1, C2, f, and Cs are calculated according to formulas (1) and (2), where L1 is the first-stage resonant inductor on the input side, L2 is the parallel inductor of the first-stage T-type CLC network in the middle, L3 is the parallel inductor of the second-stage T-type CLC network near the coupling plate, C1 is the total equivalent value of the first set of compensation capacitors, C2 is the total equivalent value of the second set of compensation capacitors, f is the system operating frequency / inverter switching frequency, and Cs is the equivalent coupling capacitance of the electric field coupling mechanism.

[0109] Formula (1) is:

[0110] Formula (1)

[0111] Formula (2) is:

[0112] Formula (2)

[0113] After obtaining the resonant parameters, the total harmonic distortion (THD) of the system input current is calculated, and it is determined whether the THD is less than the preset harmonic threshold. If the THD does not meet the requirements, the system operating frequency is increased, and the resonant parameters and THD are recalculated.

[0114] When the total harmonic distortion (THD) meets the requirements, it is further determined whether the system operating frequency is less than the preset frequency threshold and whether each resonant inductor is less than the preset inductance threshold. If any condition is not met, the system operating frequency and / or relevant initial parameters are adjusted, and the parameter calculation and verification steps are re-executed; if all conditions are met, the current L1, L2, L3, C1, C2, f, and Cs are determined as the target system parameters of the online power supply system.

[0115] In the above embodiments, by combining the drone's load requirements, preset output power, and installation space of the online power supply system, the coupling capacitor, system operating frequency, resonant inductor parameters, and compensation capacitor parameters are calculated and verified, which can improve the matching degree between system parameters, thereby improving the power transmission capability and operational stability of the online power supply system.

[0116] It should be understood that although the steps in the flowcharts of the above embodiments 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 above embodiments 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 of other steps.

[0117] Based on the same inventive concept, this application also provides an online power supply device for drones to implement the above-described online power supply method for drones. The solution provided by this device is similar to the solution described in the above-described method; therefore, the specific limitations of one or more embodiments of the online power supply device for drones provided below can be found in the limitations of the online power supply method for drones described above, and will not be repeated here.

[0118] In one exemplary embodiment, such as Figure 13 As shown, an online power supply device for unmanned aerial vehicles (UAVs) is provided, comprising: a sensing module 100, a sensing module 100, and a power supply module 300, wherein:

[0119] The sensing module 100 is used to obtain induced electrical energy by sensing the alternating magnetic field generated by the power transmission line through an electromagnetic induction component when a connection is established with the UAV. The electromagnetic induction component includes a composite magnetic core and at least one power-collecting coil wound on the composite magnetic core. The composite magnetic core is used to perform magnetic field coupling on the alternating magnetic field generated by the power transmission line, and the power-collecting coil is used to sense the alternating magnetic flux in the composite magnetic core to obtain induced electrical energy.

[0120] The sensing module 200 is used to convert the induced electrical energy into electrical energy through the power conversion module to obtain the target DC power that meets the preset power supply conditions.

[0121] The power supply module 300 is used to output DC power from the target to the UAV through the power supply interface module.

[0122] In one embodiment, the sensing module 200 includes:

[0123] The regulating unit is used to rectify the induced electrical energy to obtain the DC power to be regulated.

[0124] The voltage control unit is used to boost or buck the DC power to be regulated in order to obtain the target DC power that meets the preset power supply conditions.

[0125] In one embodiment, the sensing module 100 further includes:

[0126] The initial unit is used to determine the initial coil parameters corresponding to the power-taking coil.

[0127] The optimization unit is used to perform parameter optimization on the initial coil parameters to obtain the reference coil parameters. The parameter optimization process includes at least one of the following: multi-physics coupling optimization, parasitic parameter and high-frequency response optimization, and loss optimization under non-ideal operating conditions.

[0128] The simulation unit is used to simulate and experimentally verify the power extraction performance of the power extraction coil based on the reference coil parameters, and obtain the performance verification results.

[0129] The verification unit is used to determine the reference coil parameters as the target coil parameters when the performance verification results meet the preset performance conditions.

[0130] In one embodiment, the optimization unit includes:

[0131] The first optimization subunit is used to input the initial coil parameters into the multiphysics coupling simulation model, perform power extraction performance simulation on the power extraction coil to obtain the first performance simulation result, and adjust the initial coil parameters according to the first performance simulation result to obtain the first coil parameters; the multiphysics coupling simulation model is established based on the transmission conductor, composite magnetic core and power extraction coil.

[0132] The second optimization subunit is used to analyze the parasitic parameters and high-frequency response of the power extraction coil based on the first coil parameters, obtain the second performance simulation results, and adjust the first coil parameters according to the second performance simulation results to obtain the second coil parameters.

[0133] The third optimization subunit is used to perform loss simulation on the power taking coil based on the second coil parameters under preset non-ideal working conditions, obtain loss simulation results, and adjust the second coil parameters according to the loss simulation results to obtain reference coil parameters.

[0134] In one embodiment, the above-described apparatus further includes a control module, which includes:

[0135] The first control unit is used to control the formation of a power transmission circuit between the online power supply system and the drone when the drone is in a charging state, so as to output power to the drone.

[0136] The second control unit is used to disconnect the power transmission circuit between the online power supply system and the drone when the drone is not charging, so that the input terminal of the online power supply system is in an open circuit state.

[0137] In one embodiment, the above-described apparatus further includes a parameter optimization module, which includes:

[0138] The load determination unit is used to determine the load resistance based on the load requirements of the drone.

[0139] The power calculation unit is used to determine the initial values ​​of the DC input voltage and the conversion coefficient based on the preset output power, and to determine the actual output power of the online power supply system based on the load resistance, the DC input voltage and the conversion coefficient.

[0140] The initial value calculation unit is used to determine the initial value of the coupling capacitor and the initial value of the system operating frequency based on the installation space of the online power supply system when the actual output power meets the preset output power.

[0141] The parameter calculation unit is used to determine the resonant inductor parameters and compensation capacitor parameters of the online power supply system based on the coupling capacitor, the system operating frequency, and the preset resonance relationship.

[0142] The verification unit is used to perform performance verification on the online power supply system based on the resonant inductor parameters, compensation capacitor parameters, and system operating frequency. When the performance verification results meet the preset design conditions, the resonant inductor parameters, compensation capacitor parameters, system operating frequency, and coupling capacitor are determined as the target system parameters of the online power supply system.

[0143] The modules in the aforementioned online power supply device for unmanned aerial vehicles 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, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0144] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 14 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. 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, computer programs, and databases. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media to run. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for online power generation for unmanned aerial vehicles (UAVs).

[0145] Those skilled in the art will understand that Figure 14 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.

[0146] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method in any of the above embodiments.

[0147] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0148] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0149] 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.

[0150] 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.

[0151] 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 method for online power generation for unmanned aerial vehicles (UAVs), characterized in that, The method includes: When a connection is established with a drone, an electromagnetic induction component senses the alternating magnetic field generated by a power transmission line to obtain induced electrical energy. The electromagnetic induction component includes a composite magnetic core and at least one power-collecting coil wound around the composite magnetic core. The composite magnetic core is used to magnetically couple the alternating magnetic field generated by the power transmission line, and the power-collecting coil is used to sense the alternating magnetic flux in the composite magnetic core to obtain the induced electrical energy. The induced electrical energy is converted into electrical energy to obtain a target DC power that meets the preset power supply conditions; The target DC power is output to the UAV.

2. The method according to claim 1, characterized in that, The step of converting the induced electrical energy into target DC power that meets preset power supply conditions includes: The induced electrical energy is rectified to obtain the DC power to be regulated; The DC power to be adjusted is boosted or bucked to obtain the target DC power that meets the preset power supply conditions.

3. The method according to claim 1, characterized in that, The process of determining the target coil parameters corresponding to the power-taking coil includes: Determine the initial coil parameters corresponding to the power-taking coil; The initial coil parameters are optimized to obtain reference coil parameters; the parameter optimization includes at least one of multi-physics coupling optimization, parasitic parameter and high-frequency response optimization, and loss optimization under non-ideal operating conditions. Based on the reference coil parameters, the power extraction performance of the power extraction coil was simulated and experimentally verified to obtain the performance verification results. If the performance verification results meet the preset performance conditions, the reference coil parameters are determined as the target coil parameters.

4. The method according to claim 3, characterized in that, The step of optimizing the initial coil parameters to obtain reference coil parameters includes: The initial coil parameters are input into a multiphysics coupling simulation model to simulate the power extraction performance of the power extraction coil and obtain a first performance simulation result. Based on the first performance simulation result, the initial coil parameters are adjusted to obtain the first coil parameters. The multiphysics coupling simulation model is established based on the transmission line, the composite magnetic core, and the power extraction coil. Based on the first coil parameters, the parasitic parameters and high-frequency response of the power-taking coil are analyzed to obtain the second performance simulation results. The first coil parameters are then adjusted according to the second performance simulation results to obtain the second coil parameters. Under preset non-ideal operating conditions, the power-taking coil is subjected to loss simulation based on the second coil parameters to obtain loss simulation results. The second coil parameters are then adjusted according to the loss simulation results to obtain the reference coil parameters.

5. The method according to claim 3, characterized in that, The method further includes: If the performance verification result does not meet the preset performance conditions, the initial coil parameters are adjusted according to the performance verification result, and the parameter optimization process and power supply performance verification steps are repeated until the performance verification result meets the preset performance conditions, and the target coil parameters are obtained.

6. The method according to claim 1, characterized in that, The method is applied to an online power supply system; the method further includes: When the drone is charging, the online power supply system is controlled to form a power transmission loop with the drone and output power to the drone. When the drone is not charging, the power transmission circuit between the online power supply system and the drone is disconnected, so that the input terminal of the online power supply system is in an open circuit state.

7. The method according to claim 1, characterized in that, The method is applied to an online power supply system; the method further includes: Determine the load resistance based on the drone's load requirements; Based on the preset output power, the initial values ​​of the DC input voltage and the conversion coefficient are determined, and based on the load resistance, the DC input voltage, and the conversion coefficient, the actual output power of the online power supply system is determined. When the actual output power meets the preset output power, the initial value of the coupling capacitor is determined according to the installation space of the online power supply system, and the initial value of the system operating frequency is determined. Based on the coupling capacitor, the system operating frequency, and the preset resonance relationship, the resonant inductor parameters and compensation capacitor parameters corresponding to the online power supply system are determined. Based on the resonant inductor parameters, the compensation capacitor parameters, and the system operating frequency, the performance of the online power supply system is verified. When the performance verification results meet the preset design conditions, the resonant inductor parameters, the compensation capacitor parameters, the system operating frequency, and the coupling capacitor are determined as the target system parameters of the online power supply system.

8. An online power supply device for unmanned aerial vehicles (UAVs), characterized in that, The device includes: The sensing module is used to obtain induced electrical energy by sensing the alternating magnetic field generated by the power transmission line through an electromagnetic induction component when a connection is established with the UAV; the electromagnetic induction component includes a composite magnetic core and at least one power-collecting coil wound on the composite magnetic core; the composite magnetic core is used to magnetically couple the alternating magnetic field generated by the power transmission line, and the power-collecting coil is used to sense the alternating magnetic flux in the composite magnetic core to obtain the induced electrical energy; The conversion module is used to convert the induced electrical energy into electrical energy through the power conversion module to obtain the target DC power that meets the preset power supply conditions; The power supply module is used to output the target DC power to the UAV through the power supply interface module.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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