Charging mode determination method and device of power-taking charging system and electronic equipment

Abstract

The application discloses a charging mode determination method and device of a power-taking charging system and electronic equipment. The method comprises the following steps: based on the wire current of the wire clamped by the power-taking ring of the power-taking charging system, the number of turns of the winding of the power-taking ring is adjusted; after the number of turns of the winding is adjusted, the power-taking charging system is subjected to first-stage adjustment; after the first-stage adjustment is completed, the power-taking charging system is subjected to second-stage adjustment, wherein the second-stage adjustment at least comprises one of the second total capacitance adjustment of the variable capacitance array and the duty cycle adjustment of the rectifier; after the second-stage adjustment is completed, the target power of the output end of the rectifier is obtained; and based on the target power, the charging mode of the power-taking charging system when charging the unmanned aerial vehicle is determined. The application solves the technical problem that the determination result of the charging mode of the power-taking charging system when charging the unmanned aerial vehicle is inaccurate in the related art.

Description

Technical Field

[0001] This application relates to the fields of power electronics and new energy energy harvesting technology, and more specifically, to a method, apparatus and electronic equipment for determining the charging mode of an energy harvesting and charging system. Background Technology

[0002] In the process of charging a drone via a power line, the core task of the energy harvesting and charging system is to extract electrical energy from the 10kV (kilovolt) line and convert it into DC power suitable for charging the drone's battery. Because the load characteristics of 10kV distribution lines are drastically different from those of high-voltage transmission lines, the conductor current fluctuates dramatically with user electricity consumption, typically ranging from a few amperes (light load) to hundreds of amperes (heavy load). This drastic current fluctuation causes significant changes in the amplitude and phase of the AC voltage and current induced by the energy harvesting ring, thus affecting the accuracy of the charging mode determination result when charging the drone. Therefore, there is a technical problem in the related technology where the charging mode determination result of the energy harvesting and charging system when charging a drone is inaccurate.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This application provides a method, apparatus, and electronic device for determining the charging mode of an energy harvesting and charging system, so as to at least solve the technical problem of inaccurate charging mode determination results when the energy harvesting and charging system charges a drone in the related art.

[0005] According to one aspect of the embodiments of this application, a method for determining the charging mode of an energy harvesting and charging system is provided, comprising: adjusting the number of turns of the winding of the energy harvesting ring based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting and charging system, wherein the energy harvesting and charging system further comprises a variable capacitor array and a rectifier; after the number of turns of the winding is adjusted, performing a first-level adjustment on the energy harvesting and charging system, wherein the first-level adjustment includes a first total capacitance adjustment of the variable capacitor array and a conduction angle adjustment of the rectifier, the conduction angle being the electrical angle corresponding to the switching device of the rectifier being in the conducting state; after the first-level adjustment is completed, performing a second-level adjustment on the energy harvesting and charging system, wherein the second-level adjustment includes at least one of a second total capacitance adjustment of the variable capacitor array and a duty cycle adjustment of the rectifier, the duty cycle being the ratio between the conduction duration of the switching device and the total duration of the switching cycle within a switching cycle; after the second-level adjustment is completed, obtaining the target power at the output terminal of the rectifier; and determining the charging mode of the energy harvesting and charging system when charging a drone based on the target power.

[0006] According to another aspect of the embodiments of this application, a charging mode determination device for an energy harvesting and charging system is provided, comprising: a first adjustment module, configured to adjust the number of turns of the winding of the energy harvesting ring based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting and charging system, wherein the energy harvesting and charging system further comprises a variable capacitor array and a rectifier; a second adjustment module, configured to perform a first-level adjustment on the energy harvesting and charging system after the number of turns of the winding is adjusted, wherein the first-level adjustment includes a first total capacitance adjustment of the variable capacitor array and a conduction angle adjustment of the rectifier, the conduction angle being the electrical angle corresponding to the switching device of the rectifier being in the conducting state; a third adjustment module, configured to perform a second-level adjustment on the energy harvesting and charging system after the first-level adjustment, wherein the second-level adjustment includes at least one of a second total capacitance adjustment of the variable capacitor array and a duty cycle adjustment of the rectifier, the duty cycle being the ratio between the conduction duration of the switching device and the total duration of the switching cycle within a switching cycle; a data acquisition module, configured to acquire the target power at the output terminal of the rectifier after the second-level adjustment; and a first determination module, configured to determine the charging mode of the energy harvesting and charging system when charging a drone based on the target power.

[0007] According to another aspect of the embodiments of this application, a non-volatile storage medium is provided, which stores a plurality of instructions, the instructions being adapted for a charging mode determination method for an energy harvesting and charging system, any one of which is loaded by a processor.

[0008] According to another aspect of the embodiments of this application, an electronic device is provided, including: one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement any one of the charging mode determination methods of the energy harvesting and charging system.

[0009] According to another aspect of the embodiments of this application, a computer program product is provided, which, when executed on a data processing device, is adapted to perform the steps of a charging mode determination method for an energy-harvesting charging system.

[0010] In this embodiment, the number of turns of the winding of the energy harvesting ring is adjusted based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting charging system. The energy harvesting charging system further includes a variable capacitor array and a rectifier. After the number of turns of the winding is adjusted, a first-level adjustment is performed on the energy harvesting charging system. This first-level adjustment includes adjusting the first total capacitance of the variable capacitor array and adjusting the conduction angle of the rectifier. The conduction angle refers to the electrical angle corresponding to the rectifier's switching device being in the conducting state. After the first-level adjustment is completed, a second-level adjustment is performed on the energy harvesting charging system. This second-level adjustment includes at least one of adjusting the second total capacitance of the variable capacitor array and adjusting the rectifier's duty cycle. The duty cycle refers to the ratio between the conduction duration of the switching device and the total duration of the switching cycle. After the second-level adjustment is completed, the target power at the output of the rectifier is obtained. Based on the target power, the charging mode of the energy harvesting charging system when charging the drone is determined. The goal is to improve the accuracy of the charging mode determination result when the energy harvesting and charging system is charging a drone by adaptively adjusting the number of winding turns based on the conductor current, combined with the total capacitance adjustment of the variable capacitor array and the conduction angle and duty cycle adjustment of the rectifier, and determining the charging mode according to the target power of the output terminal of the adjusted rectifier. This solves the technical problem of inaccurate charging mode determination result when the energy harvesting and charging system is charging a drone in related technologies. Attached Figure Description

[0011] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0012] Figure 1 This is a flowchart of a method for determining the charging mode of an energy harvesting and charging system according to an embodiment of this application;

[0013] Figure 2 This is a schematic diagram of an optional energy harvesting and charging system provided according to an embodiment of this application;

[0014] Figure 3 This is a schematic diagram of a charging mode determination device for an energy harvesting and charging system according to an embodiment of this application;

[0015] Figure 4 This is a structural diagram of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0017] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0018] It should be noted that the information and data collected in this application are authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of this data all comply with relevant laws, regulations, and standards, and necessary confidentiality measures have been taken. These measures do not violate public order and good morals, and corresponding access points are provided for users to choose whether to authorize or refuse. For example, interfaces are established between this system and relevant users or organizations, providing users with access points to choose whether to agree to or refuse automated decision-making results; if the user chooses to refuse, the process proceeds to the expert decision-making stage.

[0019] According to an embodiment of this application, a method embodiment for determining the charging mode of an energy-harvesting charging system is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0020] Figure 1 This is a flowchart of a charging mode determination method for an energy harvesting and charging system according to an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps:

[0021] Step S102: Based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting and charging system, the number of turns of the winding of the energy harvesting ring is adjusted. The energy harvesting and charging system also includes a variable capacitor array and a rectifier.

[0022] It is understandable that when the current in the conductor held by the energy harvesting ring in an energy harvesting charging system changes significantly, the number of turns in the energy harvesting ring winding becomes mismatched with the conductor current. Continuing to use the old number of turns will result in insufficient induced voltage to drive the charging circuit under light loads, or core saturation under heavy loads, causing a sharp drop in energy harvesting efficiency and overheating damage to components. Therefore, it is necessary to adjust the number of turns in the energy harvesting ring winding according to the conductor current to achieve efficient energy conversion of the energy harvesting ring over a wide current range, ensuring that subsequent circuits receive stable and suitable input power.

[0023] In one optional embodiment, the number of turns of the winding of the energy harvesting ring is adjusted based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting charging system, including: determining the target number of turns of the winding based on the conductor current and a preset turn number matching rule; and adjusting the number of turns of the winding to the target number of turns.

[0024] It is understandable that by dynamically adjusting the number of winding turns based on the conductor current, the impedance coarse matching of the energy harvesting ring is achieved over a wide current range, effectively avoiding the problems of insufficient energy harvesting under light load and core saturation under heavy load, thus ensuring the stable output of energy harvesting power (i.e., the target power output at the output end of the rectifier).

[0025] Optionally, the preset turns matching rule can be:

[0026] When the current in the conductor When (amperes), select a high number of turns (target number of turns). ), increase the energy extraction voltage;

[0027] When the conductor current is When selecting the target number of turns, choose the middle number of turns. );

[0028] When the current in the conductor When choosing, select a lower number of turns (target number of turns). ), to prevent core saturation.

[0029] Optionally, the energy harvesting ring can adopt an open structure (for easy clamping of the circuit conductors), and the core material is an iron-based nanocrystalline alloy with high saturation magnetic flux density. (Tesla)), high magnetic permeability ( It features low loss characteristics. The core cross-sectional dimensions are designed based on the diameter of a 10kV line (approximately 10-20mm), with an inner diameter of 25mm, an outer diameter of 50mm, and a height of 30mm.

[0030] Optionally, a continuous secondary winding can be wound on the energy harvesting ring core, and multiple taps can be led out at different positions of the winding, with each tap corresponding to a different number of turns. (e.g., 50 turns, 100 turns, 200 turns, 400 turns). A core selection switch (a relay or MOSFET array controlled by a microcontroller) is connected to the output of the energy harvesting ring, which can select the core based on the current line current. The optimal number of turns (i.e., the target number of turns) is automatically selected. When a change in the target number of turns is detected due to a change in the line current, the microcontroller controls the core selection switch to switch to the tap corresponding to the target number of turns in order to maintain the power harvesting circuit in the optimal operating range.

[0031] Step S104: After the number of turns of the winding is adjusted, the energy harvesting and charging system is adjusted in the first stage. The first stage adjustment includes the first total capacitance adjustment of the variable capacitor array and the conduction angle adjustment of the rectifier. The conduction angle refers to the electrical angle corresponding to the switching device of the rectifier being in the conducting state.

[0032] It is understandable that by maximizing energy harvesting efficiency through the first-stage adjustment, a stable electrical parameter basis is provided for subsequent refined charging mode decisions based on the target power.

[0033] In one optional embodiment, the first-stage adjustment of the energy harvesting and charging system includes: after the number of turns of the winding is adjusted, acquiring the AC voltage and AC current at the output terminal of the energy harvesting ring, and the DC voltage at the output terminal of the rectifier; performing a first total capacitance adjustment based on the AC voltage and AC current; and performing conduction angle adjustment based on the DC voltage.

[0034] It can be understood that after adjusting the number of turns in the energy harvesting ring winding, the AC voltage and AC current at the output terminal of the energy harvesting ring, as well as the DC voltage at the output terminal of the rectifier included in the energy harvesting and charging system, are obtained. The total capacitance of the variable capacitor array is adjusted based on the AC voltage and AC current to achieve the first total capacitance adjustment of the variable capacitor array. The conduction angle of the rectifier is adjusted based on the DC voltage to achieve rectifier conduction angle adjustment. By adjusting the variable capacitor array based on AC voltage and current to achieve circuit resonance and maximize energy harvesting power, and by adjusting the rectifier conduction angle based on DC voltage to stabilize the output voltage, a dual optimization of energy harvesting efficiency and voltage stability is achieved after the winding turns are switched.

[0035] In one alternative embodiment, performing a first total capacitance adjustment based on AC voltage and AC current includes: determining a phase difference between the AC voltage and AC current; determining a target total capacitance of the variable capacitor array based on the phase difference; and adjusting the total capacitance of the variable capacitor array to the target total capacitance.

[0036] It is understandable that by dynamically adjusting the variable capacitor array to the target total capacitance based on the phase difference between AC voltage and AC current, reactive power compensation and resonance matching of the energy harvesting and charging system can be achieved, thereby eliminating reactive power loss and improving the power factor and overall energy conversion efficiency of the energy harvesting and charging system.

[0037] Optionally, before rectification, a controllable capacitor array can be connected in series with the secondary output of the energy harvester ring to compensate for the leakage inductance and magnetizing inductance of the energy harvester ring, enabling the circuit to operate in a resonant state and improving the power factor. The capacitor array consists of multiple capacitors (such as... The capacitors are connected in parallel, and each capacitor can be connected individually by a switch. The total capacitance is adjustable within a certain range. .

[0038] Alternatively, the target total capacitance of the variable capacitor array can be determined in the following manner:

[0039] (1) Phase difference detection and calculation: Using the AC voltage and AC current at the output of the energy harvesting ring, the phase difference between the two is calculated by using the zero-crossing detection method or digital signal processing algorithm, such as FFT (Fast Fourier Transform). ;

[0040] (2) Determine the circuit state: If the phase difference If the value is close to 0 (or within the allowable error range), it indicates that the circuit is in a resonant state with minimal reactive power. At this point, no capacitor adjustment is needed; the target total capacitance should remain at its current value or be finely adjusted to the optimal resonant point. If the phase difference... If the value is not 0, then further determine whether the current lags behind the voltage: if the current lags behind the voltage (inductive load characteristic), it means that the inductive reactance of the circuit is greater than the capacitive reactance, and the total capacitance needs to be increased to improve the capacitive reactance, so that the circuit tends to resonate; if the current leads the voltage (capacitive load characteristic), it means that the capacitive reactance of the circuit is greater than the inductive reactance, and the total capacitance needs to be decreased to reduce the capacitive reactance, so that the circuit tends to resonate.

[0041] (3) Calculate the target capacitance value: based on the circuit's resonance condition. (Right now ), combined with line angular frequency Calculate the theoretically optimal resonant capacitance value (i.e., the target total capacitance) based on the equivalent inductance L of the energy harvesting ring. Or based on phase difference The magnitude of the gain is determined by using a preset gain coefficient or a lookup table to calculate the amount of capacitance change that needs to be compensated. Thus, the target total capacitance is determined. ;in, The inductive reactance corresponding to the equivalent inductance of the energy harvesting ring, This is the capacitive reactance corresponding to the total capacitance of the variable capacitor array. The equivalent total capacitance of the energy extraction circuit is... The total capacitance before adjustment;

[0042] (4) Generate capacitor array control command: The calculated target total capacitance Matching the capacitance values ​​of each unit capacitor in the variable capacitor array with the corresponding switching control signals (such as control signals for relays or MOSFETs) determines which capacitor units need to be connected or disconnected, thereby precisely adjusting the total capacitance of the variable capacitor array to the target total capacitance, achieving impedance matching and power factor correction.

[0043] In one alternative embodiment, performing conduction angle adjustment based on DC voltage includes: determining a first voltage difference based on DC voltage and a reference voltage; determining a target conduction angle of the rectifier based on the first voltage difference; and adjusting the conduction angle of the rectifier to the target conduction angle.

[0044] It is understandable that by dynamically adjusting the rectifier conduction angle based on the difference between the DC voltage and the reference voltage, closed-loop voltage regulation control of the energy extraction output voltage is achieved, effectively suppressing voltage instability caused by fluctuations in line current (i.e., conductor current) or load changes, and providing a reliable benchmark for subsequent charging mode judgment.

[0045] Alternatively, synchronous rectification technology can be used, employing low on-resistance MOSFETs instead of diodes to reduce rectification losses. The conduction angle of the rectifier is dynamically adjusted by the microcontroller based on feedback from the output voltage (i.e., the DC voltage at the output of the rectifier), achieving initial stabilization of the output voltage.

[0046] Alternatively, the target conduction angle of the rectifier can be determined in the following manner:

[0047] (1) Constructing error signal: Compare the DC voltage at the output terminal of the rectifier (i.e. the output voltage of the rectifier) ​​with the reference voltage (i.e. the target output voltage expected by the rectifier), calculate the difference between the two, and obtain the first voltage difference;

[0048] (2) Perform PID regulation operation: Input the first voltage difference into the preset proportional-integral-derivative (PID) controller, and calculate the regulation amount used to correct the conduction angle by quickly responding to the voltage deviation through the proportional term, eliminating the steady-state error through the integral term, and predicting the voltage change trend through the derivative term.

[0049] (3) Mapping and determining the target conduction angle: Based on the adjustment amount, combined with the working characteristic curve of the rectifier or the preset lookup table, the adjustment amount is mapped to the corresponding conduction angle adjustment value and superimposed on the current conduction angle to determine the target conduction angle of the rectifier;

[0050] (4) Output control signal: The determined target conduction angle is converted into a corresponding PWM (Pulse Width Modulation) drive signal and sent to the switching device of the rectifier (such as MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) or IGBT (Insulated-Gate Bipolar Transistor)) to precisely control its conduction time, thereby realizing closed-loop stable control of DC voltage.

[0051] Step S106: After the first-level adjustment is completed, the energy harvesting and charging system is adjusted to the second level. The second-level adjustment includes at least one of the second total capacitance adjustment of the variable capacitor array and the duty cycle adjustment of the rectifier. The duty cycle refers to the ratio between the on-time of the switching device and the total duration of the switching cycle.

[0052] It is understandable that by finely adjusting the total capacitance of the variable capacitor array or dynamically adjusting the rectifier duty cycle based on the first-stage regulation, the energy harvesting and charging system can adaptively track changes in line impedance and load, thereby continuously locking the maximum power point under wide current fluctuation conditions to maximize energy harvesting efficiency.

[0053] Optionally, due to fluctuations in line current, the maximum power point of the energy harvesting loop changes accordingly. During charging, the capacitance value (i.e., the total capacitance of the variable capacitor array) or the rectifier duty cycle can be periodically disturbed to detect changes in output power. The maximum power point can then be searched using a disturbance observation method or an incremental conductance method, ensuring that the energy harvesting efficiency remains within the optimal range.

[0054] Optionally, when the energy harvesting and charging system is in the line impedance matching stage or needs to optimize the power factor to maximize energy harvesting efficiency, the second total capacitor of the variable capacitor array is mainly adjusted to offset the line inductive reactance and achieve resonance. When the energy harvesting and charging system is in the voltage stabilization or load tracking stage, and needs to quickly respond to load fluctuations to maintain a constant output voltage or track the maximum power point, the duty cycle of the rectifier is mainly adjusted to stabilize the DC bus voltage by adjusting the equivalent DC conversion ratio. In the initial stage of the energy harvesting and charging system startup or when the operating conditions change drastically, the second total capacitor of the variable capacitor array can be adjusted first to eliminate the main reactive components and establish a stable resonance foundation. Then, the duty cycle of the rectifier is immediately adjusted to perform fine closed-loop control of the DC voltage at the output of the rectifier of the energy harvesting and charging system, so as to achieve a smooth transition from efficient energy harvesting to stable power supply.

[0055] Alternatively, the second-level adjustment can be performed in the following manner:

[0056] (1) Obtain operating status parameters: After the first stage of adjustment is completed, obtain the DC voltage at the output terminal of the rectifier of the energy harvesting and charging system. Load current and battery voltage ;

[0057] (2) Adjustment judgment: If the main purpose is to optimize energy transmission efficiency or further offset the influence of line impedance, the second total capacitance adjustment of the variable capacitor array is executed; if the main purpose is to stabilize the output voltage, match the load demand, or perform maximum power point tracking (MPPT), the duty cycle adjustment of the rectifier is executed.

[0058] (3) Perform the second total capacitance adjustment (if this path is selected): Based on the phase difference (between the AC voltage and AC current at the output of the energy harvesting ring after the first adjustment) or the power factor error (the phase relationship or cosine value of the AC voltage and AC current at the output of the energy harvesting ring after the first adjustment), calculate the new first target capacitance value; control the switching devices in the variable capacitor array to connect or disconnect the corresponding capacitor units, adjust the total capacitance to the first target capacitance value, so as to further improve the resonance state of the circuit and reduce reactive power loss;

[0059] (4) Perform duty cycle adjustment (if this path is selected): Adjust the DC voltage With reference voltage The voltage error signal is obtained by comparison; the voltage error signal is processed by the PID controller to generate the duty cycle adjustment amount; the drive signal of the switching device (such as MOSFET) in the rectifier is adjusted to change its conduction time in the switching cycle, thereby adjusting the equivalent DC-DC conversion ratio to achieve output voltage stability or maximum power point tracking.

[0060] (5) Closed-loop verification and iteration: After the second-level adjustment is executed, the output of the energy harvesting and charging system is monitored again. If the stability or efficiency requirements are met (i.e., the output power fluctuation is within the preset range or the DC bus voltage does not exceed the preset stable range), the current adjustment state is maintained; if not, fine-tuning is continued according to the deviation direction until the energy harvesting and charging system enters the optimal working state.

[0061] Step S108: After the second stage of adjustment is completed, obtain the target power at the output of the rectifier;

[0062] It is understandable that by obtaining the target power at the rectifier output, the actual energy output state of the energy harvesting and charging system can be quantified in real time, providing data for the accurate determination of the subsequent charging mode, thereby achieving the optimal balance between safety and efficiency in the drone charging process.

[0063] Step S110: Based on the target power, determine the charging mode of the energy harvesting and charging system when charging the drone.

[0064] It is understandable that by dynamically determining the charging mode based on the acquired target power, the precise matching of the energy harvesting power (i.e., the target power) and the state of the drone battery is achieved, ensuring the safety and stability of the drone charging process and the optimal protection of battery life under wide current fluctuation conditions.

[0065] In one optional embodiment, the charging mode of the power harvesting and charging system when charging the drone is determined based on the target power, including: if the target power is greater than or equal to a first preset power threshold and the battery voltage of the drone is less than a preset voltage threshold, the charging mode is determined to be a constant current charging mode; if the battery voltage is less than the preset voltage threshold and the second voltage difference between the battery voltage and the preset voltage threshold is less than a preset difference threshold, the charging mode is determined to be a constant voltage charging mode; if the charging current for charging the drone is less than a preset current threshold, the charging mode is determined to be a float charging mode or a stop charging mode; if the target power is less than a second preset power threshold, the charging mode is determined to be a trickle charging mode, wherein the second preset power threshold is less than the first preset power threshold.

[0066] It is understandable that if the target power is greater than or equal to the first preset power threshold, and the drone's battery voltage is less than the preset voltage threshold, it indicates that the energy harvesting power (i.e., the target power) is sufficient and the drone's battery is in a low-charge state. In this case, the charging mode of the energy harvesting and charging system for charging the drone is determined to be constant current charging mode, that is, injecting electrical energy into the battery quickly with the maximum safe current to shorten the charging time. If the drone's battery voltage is less than the preset voltage threshold, and the second voltage difference between the battery voltage and the preset voltage threshold is less than the preset difference threshold, it indicates that the drone's battery is close to being fully charged. In this case, the charging mode of the energy harvesting and charging system for charging the drone is determined to be constant voltage charging mode, that is, maintaining a constant voltage and gradually reducing the charging current to prevent overcharging and protect the battery. If the charging current for charging the drone is less than the preset current threshold, it indicates that the battery is basically fully charged or the energy harvesting power is extremely low and insufficient to maintain a large current charging. In this case, the charging mode of the energy harvesting and charging system for charging the drone is determined to be float charging mode or stop charging mode. Float charging mode refers to using a small current to supplement the battery's self-discharge loss to maintain a fully charged state, while stop charging mode refers to completely cutting off the charging circuit to enter standby or energy-saving state. If the target power is less than the second preset power threshold, it indicates that the line is under light load and the energy harvesting power is low. In this case, the charging mode for the drone by the energy harvesting and charging system is determined to be trickle charging mode, that is, charging slowly with a very small current to maintain the battery's basic charge and ensure that the energy harvesting and charging system is always ready to start. By dynamically switching between four charging modes—constant current, constant voltage, float charging / stop charging, and trickle charging—based on the energy harvesting power and battery status, safe, efficient, and full-state management of the drone battery is achieved under wide current fluctuation conditions. This ensures both rapid energy replenishment under heavy load and maintenance of the battery capacity and the system's always-on-demand start-up capability under light load.

[0067] Optionally, if the drone's charging current is less than a preset current threshold, the charging mode of the power-charging system can be further determined based on the drone's mission status: either float charging mode or off-charging mode. The specific process is as follows:

[0068] (1) Obtain the mission status and battery parameters of the UAV: ​​Read the UAV flight mission queue, determine whether there is an upcoming take-off or inspection mission command, and at the same time read the current state of charge (SOC) and the number of historical charge and discharge cycles of the battery.

[0069] (2) Determine the urgency of the task and the battery health: If it is determined to be a non-task standby state and the battery SOC is in the high power range (e.g., SOC>95%), or in order to extend the long-term storage life of the battery, it is determined to be suitable for the stop charging mode; if it is determined to be a standby state but needs to maintain the ability to respond at any time, or the battery SOC is slightly lower than the full charge threshold but higher than the low power alarm threshold, and tends to maintain full charge to cope with sudden tasks, it is determined to be suitable for the float charging mode.

[0070] Optionally, it can be based on the energy harvesting power. and the battery voltage of the drone Automatically switch charging modes:

[0071] Constant current charging mode: When and (i.e., at the preset voltage threshold, such as 4.2V / cell) the maximum safe current. Charge;

[0072] Constant voltage charging mode: When near When the battery voltage is less than the preset voltage threshold and the second voltage difference between the battery voltage and the preset voltage threshold is less than the preset difference threshold, the charging mode switches to constant voltage charging and the current gradually decreases.

[0073] Float charging / stop charging mode: When the charging current is lower than (i.e., preset current threshold) or when the battery is fully charged, charging stops and the device enters standby mode.

[0074] Low-power trickle mode: when When the second preset power threshold (i.e., when the line is lightly loaded) is reached, trickle charging is initiated to prevent the battery from running out of power.

[0075] Through the above steps S102 to S110, the goal of adjusting the number of winding turns based on the conductor current, combined with the total capacitance adjustment of the variable capacitor array and the conduction angle and duty cycle adjustment of the rectifier, and determining the charging mode based on the target power of the output terminal of the adjusted rectifier can be achieved. This improves the accuracy of the charging mode determination result when the energy harvesting and charging system is charging a drone, thereby solving the technical problem of inaccurate charging mode determination result when the energy harvesting and charging system is charging a drone in related technologies.

[0076] Based on the above embodiments and optional embodiments, this application proposes an optional implementation method, which can be understood as a 10kV overhead line adaptive dynamic energy harvesting and charging system, used to implement a charging mode determination method for an energy harvesting and charging system.

[0077] With the widespread adoption of fully autonomous drone inspections of 10kV overhead lines, providing convenient and continuous refueling for these drones has become a key technological bottleneck. Utilizing the electromagnetic field of the transmission line itself for energy extraction and charging (line charging) is an effective solution that eliminates the need for pre-installed infrastructure on poles. While related technologies have made initial explorations in energy extraction and charging, they exhibit the following significant drawbacks regarding the unique adaptability to the 10kV voltage level:

[0078] 1. Large fluctuations in 10kV line current (i.e., conductor current) and poor energy extraction stability: Unlike high-voltage transmission lines, the load current of 10kV distribution lines fluctuates drastically with user electricity consumption (from a few amperes to hundreds of amperes). Existing energy extraction solutions are mostly designed for stable loads. When the 10kV line is lightly loaded (current <10A), the energy extraction power drops sharply, which cannot meet the charging needs of drones; while under heavy load, it may cause overheating or voltage runaway due to magnetic core saturation.

[0079] 2. Lack of adaptive magnetic core and dynamic matching mechanism: Existing energy harvesting devices use fixed-parameter CT (Current Transformer) harvesting loops (fixed magnetic core material, fixed number of turns), which cannot adjust the excitation characteristics in real time according to the line current. When the line current changes, the harvested power and output voltage fluctuate drastically, which can easily lead to damage to the downstream charging circuit or low charging efficiency.

[0080] 3. Low integration between the energy harvesting mechanism and the UAV docking mechanism: In existing on-line charging solutions, the energy harvesting ring is often treated as an independent module, separated from the UAV's clamping / suspension mechanism, which increases mechanical complexity and docking difficulty. Furthermore, the contact resistance and air gap changes after the energy harvesting ring closes significantly impact energy harvesting efficiency, lacking adaptive optimization.

[0081] 4. Lack of safety design for 10kV voltage level: Although the voltage level of 10kV lines is lower than that of high-voltage transmission lines, it still poses a risk of electric shock to personnel and equipment. Existing solutions are insufficient in terms of insulation design, electric field shielding, and monitoring of the opening and closing status of the energy harvesting ring, resulting in safety hazards.

[0082] Therefore, there is an urgent need for an adaptive dynamic energy harvesting and charging system specifically designed for the characteristics of 10kV overhead lines, capable of stable energy harvesting within a wide current range and deeply integrated with the overhead line charging docking mechanism.

[0083] Based on this, an adaptive dynamic energy harvesting and charging system for 10kV overhead lines is proposed. This system adopts a multi-tap adaptive magnetic core, a dynamic matching tuning circuit, an energy harvesting ring integrated with the clamping mechanism, and an intelligent charging management module to achieve stable energy harvesting from 10kV lines within a wide current range (5A~300A), providing a reliable power supply for drones charging on the line.

[0084] Figure 2 This is a schematic diagram of an optional energy harvesting and charging system provided according to an embodiment of this application, such as... Figure 2 As shown, the 10kV overhead line adaptive dynamic energy harvesting and charging system includes the following core modules: Multi-tap adaptive magnetic core energy harvesting ring: Utilizing a high-saturation magnetic flux density nanocrystalline magnetic core, it features multiple secondary taps (different numbers of turns) and automatically matches the current line current level via a magnetic core selection switch; Dynamic matching and tuning circuit: Including a variable capacitor array and an active rectifier regulator (i.e., rectifier), it adjusts the resonant frequency and equivalent load of the energy harvesting circuit in real time to maximize energy harvesting power; Clamping-energy harvesting integrated mechanism: Integrating the energy harvesting ring with the UAV's overhead line clamping mechanism, with the energy harvesting ring half-ring also serving as a clamping arm, and incorporating a contact pressure sensor and closed-state detection; Intelligent charging management module: Monitoring energy harvesting power, battery status, and line current, dynamically adjusting the charging mode (constant current / constant voltage / float charging), and providing overvoltage, overcurrent, and overheat protection; Insulation and electric field shielding design: The energy harvesting ring is covered with 10kV-grade insulating silicone rubber, and has an internal electric field shielding layer to ensure safe operation of the UAV on high-voltage lines.

[0085] The following is a brief introduction to each module:

[0086] 1. Multi-tap adaptive magnetic core energy harvesting ring

[0087] (1) Core structure and materials

[0088] The energy harvesting ring adopts an open structure (for easy clamping of circuit conductors), and the core material is an iron-based nanocrystalline alloy with high saturation magnetic flux density. (Tesla)), high magnetic permeability ( It features low loss characteristics. The core cross-sectional dimensions are designed based on the diameter of a 10kV line (approximately 10-20mm), with an inner diameter of 25mm, an outer diameter of 50mm, and a height of 30mm.

[0089] (2) Multi-tap secondary winding

[0090] A continuous secondary winding is wound on the magnetic core, and multiple taps are led out at different positions of the winding, each tap corresponding to a different number of turns. (e.g., 50 turns, 100 turns, 200 turns, 400 turns). A core selection switch (a relay or MOSFET array controlled by a microcontroller) is connected to the output of the energy harvesting ring, which can select the core based on the current line current. The optimal number of turns (i.e., the target number of turns) is automatically selected. When a change in the target number of turns is detected due to a change in the line current, the microcontroller controls the core selection switch to switch to the tap corresponding to the target number of turns in order to maintain the power harvesting circuit in the optimal operating range.

[0091] (3) Turns selection strategy

[0092] Output electromotive force of the energy harvesting ring With line current The relationship between the number of turns and the number of turns ratio is:

[0093]

[0094] in, This indicates that the transmission line conductor passes through the energy harvesting ring core as a single-turn primary winding. To obtain the excitation impedance of the energy extraction ring core, The target number of turns is determined for the winding. To avoid core saturation and ensure output power, the principle for selecting the number of turns (i.e., the preset turn number matching rule) is as follows:

[0095] When the current in the conductor When (amperes), select a high number of turns (target number of turns). ), increase the energy extraction voltage;

[0096] When the conductor current is When selecting the target number of turns, choose the middle number of turns. );

[0097] When the current in the conductor When choosing, select a lower number of turns (target number of turns). ), to prevent core saturation.

[0098] 2. Dynamic matching tuning circuit

[0099] (1) Variable capacitor array

[0100] Before rectification, the secondary output of the energy harvester ring has a controllable capacitor array connected in series to compensate for the leakage inductance and magnetizing inductance of the energy harvester ring, enabling the circuit to operate in a resonant state and improving the power factor. The capacitor array consists of multiple capacitors (such as... The capacitors are connected in parallel, and each capacitor can be connected individually by a switch. The total capacitance is adjustable within a certain range. .

[0101] (2) Active rectifier regulator (i.e., synchronous rectifier)

[0102] Synchronous rectification technology is employed, using low on-resistance MOSFETs instead of diodes to reduce rectification losses. The conduction angle of the rectifier is dynamically adjusted by the microcontroller based on feedback from the output voltage (i.e., the DC voltage at the output of the rectifier), achieving initial stabilization of the output voltage.

[0103] (3) Maximum Power Point Tracking (MPPT)

[0104] Due to fluctuations in line current, the maximum power point of the energy harvesting loop changes accordingly. During the charging process, the capacitance value (i.e., the total capacitance of the variable capacitor array) or the rectifier duty cycle is periodically disturbed to detect changes in output power. The maximum power point is searched using the disturbance observation method or the incremental conductance method to ensure that the energy harvesting efficiency is always kept in the optimal range.

[0105] 3. Clamping-energy harvesting integrated mechanism

[0106] (1) Mechanical structure integration

[0107] The two halves of the energy harvesting ring also serve as gripping arms for the UAV's habitat:

[0108] The left half-ring is fixed to the mounting plate at the bottom of the drone, while the right half-ring is driven to open and close by a miniature servo motor.

[0109] A contact pressure sensor (thin-film pressure sensor) is embedded inside the semi-ring to detect the clamping force. ;

[0110] A Hall sensor and a permanent magnet are installed at the joint of the semi-ring to detect whether the energy harvesting ring is completely closed.

[0111] (2) Closed state detection and control

[0112] Once the microswitch or Hall sensor signal confirms that the energy harvesting ring is closed, the electromagnetic lock is energized to maintain the clamping force.

[0113] If the clamping force is below the threshold If the value is 10N (Newtons), it is determined to be a poor contact, and the servo motor is controlled to tighten again or an alarm is issued.

[0114] Once charging is complete, the electromagnetic lock is de-energized, the servo motor drives the semi-ring to open, and the drone disconnects from the wire.

[0115] (3) Electrical connection optimization

[0116] The contact surface between the energy harvesting ring and the conductor is designed with a multi-contact spring structure to increase the contact area and reduce the contact resistance. The spring material is beryllium copper alloy with a silver-plated surface, which has good conductivity and elasticity.

[0117] 4. Intelligent charging management module

[0118] (1) Charging mode switching

[0119] Based on energy harvesting power and the battery voltage of the drone Automatically switch charging modes:

[0120] Constant current charging mode: When and (i.e., at the preset voltage threshold, such as 4.2V / cell) the maximum safe current. Charge;

[0121] Constant voltage charging mode: When near When the battery voltage is less than the preset voltage threshold and the second voltage difference between the battery voltage and the preset voltage threshold is less than the preset difference threshold, the charging mode switches to constant voltage charging and the current gradually decreases.

[0122] Float charging / stop charging mode: When the charging current is lower than (i.e., preset current threshold) or when the battery is fully charged, charging stops and the device enters standby mode.

[0123] Low-power trickle mode: when When the second preset power threshold (i.e., when the line is lightly loaded) is reached, trickle charging is initiated to prevent the battery from running out of power.

[0124] (2) Protection function

[0125] Overvoltage Protection (OVP): When the output voltage at the rectifier output terminal exceeds the overvoltage protection threshold voltage. When this happens, the charging circuit is disconnected.

[0126] Overcurrent Protection (OCP): The drone's charging current exceeds the overcurrent protection threshold current. If necessary, reduce the number of turns in the energy harvesting ring or disconnect it.

[0127] Over-temperature protection (OTP): The core temperature exceeds the preset temperature threshold. (e.g., at 85°C) pause energy extraction and resume after cooling.

[0128] Lightning / surge protection: A varistor and a gas discharge tube are connected in parallel at the DC output terminal of the power extraction charging system (or the input terminal of the intelligent charging management module) to protect against surges caused by induced lightning strikes, operational overvoltages, and electrostatic discharge.

[0129] 5. Insulation and electric field shielding design

[0130] (1) Insulation design

[0131] The outer layer of the energy harvesting ring is covered with 10kV-grade insulating silicone rubber, with a thickness of [missing information]. Power frequency withstand voltage (1 minute). The surface of the insulation layer has an umbrella-like structure to increase the creepage distance and prevent flashover under polluted conditions.

[0132] (2) Electric field shielding

[0133] A metal shielding mesh (copper mesh) is embedded inside the insulation layer of the power harvester ring (near the magnetic core) and connected to the drone's "ground" (or floating potential equalization network) via a wire. The shielding layer effectively reduces the interference of the strong electric field around the wire on the drone's electronic equipment, while also reducing the electromagnetic radiation emitted by the power harvester ring. An insulating layer is used between the shielding layer and the power harvester ring to prevent short circuits.

[0134] (3) Ground insulation monitoring

[0135] During charging, the insulation resistance between the energy harvesting ring and the drone body is monitored in real time. .when When the safety insulation resistance threshold (e.g., 1 MΩ) is reached, charging will be immediately disconnected and an alarm will be triggered to prevent high voltage from entering the low voltage side.

[0136] Based on the above-mentioned 10kV overhead line adaptive dynamic energy harvesting and charging system, Example 1 is proposed to test the energy harvesting of a 10kV line under different load conditions.

[0137] Test environment: 10kV overhead line test section, the line current is adjusted through the load cabinet, the range is 5A~300A.

[0138] Energy harvesting ring parameters: nanocrystalline magnetic core, inner diameter 25mm, outer diameter 50mm, height 30mm; secondary side taps: 50 turns, 100 turns, 200 turns, 400 turns.

[0139] The test results are shown in Table 1.

[0140] Table 1 Test Results

[0141]

[0142] The results show that the power harvesting and charging system can stably output 15~210W of power over a wide current range, which meets the charging needs of drones (typical charging power 50~100W).

[0143] The above optional implementation methods achieve at least the following effects:

[0144] (1) Adaptive wide current range energy extraction to adapt to 10kV load fluctuations: Through multi-tap magnetic core and dynamic turn number switching, combined with MPPT maximum power point tracking, it can stably output 15~200W (watts) of power in the range of 5A~300A conductor current, solving the problem of insufficient energy extraction under light load and magnetic core saturation under heavy load of 10kV line.

[0145] (2) Clamping-energy harvesting integrated design to reduce mechanical complexity: the energy harvesting ring half ring also serves as a clamping arm, reducing the extra weight of the mechanism carried by the UAV; the contact pressure sensor and closure detection ensure that the energy harvesting ring is tightly attached to the wire, with a contact resistance of less than 5mΩ (milliohm).

[0146] (3) Dynamic matching and tuning to improve energy harvesting efficiency: The variable capacitor array and synchronous rectification technology enable the energy harvesting circuit to always work in the resonant state, with an efficiency of over 85%, which is much higher than the traditional fixed parameter energy harvesting scheme (about 60%).

[0147] (4) Comprehensive 10kV safety protection: 10kV-level insulating silicone rubber + electric field shielding + insulation monitoring triple protection ensures the safe operation of drones on high-voltage lines, and the ground insulation resistance monitoring value can reach more than 50MΩ.

[0148] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0149] This embodiment also provides a charging mode determination device for an energy harvesting and charging system. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the terms "module" and "device" can refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0150] According to an embodiment of this application, an apparatus embodiment for implementing a charging mode determination method for an energy harvesting and charging system is also provided. Figure 3 This is a schematic diagram of a charging mode determination device for an energy harvesting and charging system according to an embodiment of this application, as shown below. Figure 3 As shown, the charging mode determination device of the above-mentioned energy harvesting and charging system includes a first adjustment module 302, a second adjustment module 304, a third adjustment module 306, a data acquisition module 308, and a first determination module 310. The device will be described below.

[0151] The first adjustment module 302 is used to adjust the number of turns of the winding of the energy harvesting ring based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting and charging system. The energy harvesting and charging system also includes a variable capacitor array and a rectifier.

[0152] The second adjustment module 304 is connected to the first adjustment module 302 and is used to perform the first-level adjustment of the energy harvesting and charging system after the number of turns of the winding is adjusted. The first-level adjustment includes the first total capacitance adjustment of the variable capacitor array and the conduction angle adjustment of the rectifier. The conduction angle refers to the electrical angle corresponding to the switching device of the rectifier being in the conducting state.

[0153] The third adjustment module 306 is connected to the second adjustment module 304 and is used to perform a second-level adjustment on the energy harvesting and charging system after the first-level adjustment is completed. The second-level adjustment includes at least one of the second total capacitance adjustment of the variable capacitor array and the duty cycle adjustment of the rectifier. The duty cycle refers to the ratio between the on-time of the switching device and the total duration of the switching cycle within the switching cycle.

[0154] The data acquisition module 308 is connected to the third adjustment module 306 and is used to acquire the target power at the output of the rectifier after the second-stage adjustment is completed.

[0155] The first determining module 310, connected to the data acquisition module 308, is used to determine the charging mode of the energy harvesting and charging system when charging the drone based on the target power.

[0156] The charging mode determination device for an energy harvesting and charging system provided in this application embodiment achieves the technical effect of improving the accuracy of the charging mode determination result when charging a drone by setting a first adjustment module 302, a second adjustment module 304, a third adjustment module 306, a data acquisition module 308, and a first determination module 310. This is achieved by setting a first adjustment module 302, a second adjustment module 304, a third adjustment module 306, a data acquisition module 308, and a first determination module 310. This is done by adaptively adjusting the number of winding turns based on the conductor current, combined with adjusting the total capacitance of the variable capacitor array and adjusting the conduction angle and duty cycle of the rectifier, and determining the charging mode based on the target power of the output terminal of the rectifier after adjustment. This solves the technical problem of inaccurate charging mode determination result when charging a drone in related technologies.

[0157] It should be noted that the above modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0158] It should be noted that the first adjustment module 302, the second adjustment module 304, the third adjustment module 306, the data acquisition module 308, and the first determination module 310 correspond to steps S102 to S110 in the embodiments. The instances and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that the above modules, as part of the device, can run in a computer terminal.

[0159] It should be noted that the optional or preferred implementation methods of this embodiment can be found in the relevant descriptions in the embodiments, and will not be repeated here.

[0160] The charging mode determination device of the above-mentioned energy harvesting and charging system may also include a processor and a memory. The first adjustment module 302, the second adjustment module 304, the third adjustment module 306, the data acquisition module 308, the first determination module 310, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions.

[0161] The processor contains a core that retrieves the corresponding program unit from memory. One or more cores may be configured. Memory may include non-persistent memory in computer-readable media, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory includes at least one memory chip.

[0162] This application provides a non-volatile storage medium storing a program that, when executed by a processor, implements a method for determining the charging mode of an energy-harvesting charging system.

[0163] This application provides an electronic device. Figure 4 This is a structural diagram of an electronic device provided according to an embodiment of this application. For example... Figure 4 As shown, the electronic device may include: one or more ( Figure 4 (Only one is shown) processor 402, memory 404, memory controller, and peripheral interface, wherein the peripheral interface is connected to the radio frequency module, audio module and display. This electronic device includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: adjusting the number of turns of the winding of the energy harvesting ring based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting charging system. The energy harvesting charging system also includes a variable capacitor array and a rectifier. After adjusting the number of turns of the winding, the energy harvesting charging system undergoes a first-level adjustment, which includes adjusting the first total capacitance of the variable capacitor array and adjusting the conduction angle of the rectifier. The conduction angle refers to the electrical angle corresponding to the rectifier's switching device being in the on state. After the first-level adjustment, the energy harvesting charging system undergoes a second-level adjustment, which includes at least one of adjusting the second total capacitance of the variable capacitor array and adjusting the rectifier's duty cycle. The duty cycle refers to the ratio between the on-time of the switching device and the total duration of the switching cycle. After the second-level adjustment, the target power at the output of the rectifier is obtained. Based on the target power, the charging mode of the energy harvesting charging system when charging the drone is determined. The device in this article could be a server, PC, etc.

[0164] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program with the following method steps: adjusting the number of turns of the winding of the energy harvesting ring based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting charging system, wherein the energy harvesting charging system further includes a variable capacitor array and a rectifier; after the number of turns of the winding is adjusted, performing a first-level adjustment on the energy harvesting charging system, wherein the first-level adjustment includes a first total capacitance adjustment of the variable capacitor array and a conduction angle adjustment of the rectifier, the conduction angle being the electrical angle corresponding to the switching device of the rectifier being in the conducting state; after the first-level adjustment is completed, performing a second-level adjustment on the energy harvesting charging system, wherein the second-level adjustment includes at least one of a second total capacitance adjustment of the variable capacitor array and a duty cycle adjustment of the rectifier, the duty cycle being the ratio between the conduction duration of the switching device and the total duration of the switching cycle within the switching cycle; after the second-level adjustment is completed, obtaining the target power at the output of the rectifier; and based on the target power, determining the charging mode of the energy harvesting charging system when charging the UAV.

[0165] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0166] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0167] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0168] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0169] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0170] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0171] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0172] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0173] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0174] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for determining the charging mode of an energy harvesting and charging system, characterized in that, include: The number of turns of the winding of the energy harvesting ring is adjusted based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting and charging system. The energy harvesting and charging system also includes a variable capacitor array and a rectifier. After the number of turns of the winding is adjusted, the energy harvesting and charging system is adjusted in the first stage. The first stage adjustment includes the first total capacitance adjustment of the variable capacitor array and the conduction angle adjustment of the rectifier. The conduction angle refers to the electrical angle corresponding to the switching device of the rectifier being in the conducting state. After the first-level adjustment is completed, the energy harvesting and charging system is adjusted in the second level. The second-level adjustment includes at least one of the second total capacitance adjustment of the variable capacitor array and the duty cycle adjustment of the rectifier. The duty cycle refers to the ratio between the on-time of the switching device and the total duration of the switching cycle during the switching cycle. After the second stage of adjustment is completed, the target power at the output of the rectifier is obtained; Based on the target power, the charging mode of the energy harvesting and charging system when charging the drone is determined.

2. The method according to claim 1, characterized in that, The adjustment of the number of turns of the winding of the energy harvesting ring based on the energy harvesting and charging system, using the conductor current of the conductor held by the energy harvesting ring, includes: Based on the conductor current and the preset turn number matching rule, the target number of turns of the winding is determined; Adjust the number of turns of the winding to the target number of turns.

3. The method according to claim 1, characterized in that, The first-level adjustment of the energy harvesting and charging system includes: After the number of turns of the winding is adjusted, the AC voltage and AC current at the output terminal of the energy harvesting ring, and the DC voltage at the output terminal of the rectifier are obtained. Based on the AC voltage and the AC current, perform the first total capacitance adjustment; The conduction angle adjustment is performed based on the DC voltage.

4. The method according to claim 3, characterized in that, The step of performing the first total capacitance regulation based on the AC voltage and the AC current includes: Determine the phase difference between the AC voltage and the AC current; Based on the phase difference, the target total capacitance of the variable capacitor array is determined; The total capacitance of the variable capacitor array is adjusted to the target total capacitance.

5. The method according to claim 3, characterized in that, The step of adjusting the conduction angle based on the DC voltage includes: Based on the DC voltage and the reference voltage, a first voltage difference is determined; Based on the first voltage difference, the target conduction angle of the rectifier is determined; Adjust the conduction angle of the rectifier to the target conduction angle.

6. The method according to any one of claims 1 to 5, characterized in that, The step of determining the charging mode of the energy harvesting and charging system when charging the drone based on the target power includes: If the target power is greater than or equal to a first preset power threshold and the battery voltage of the drone is less than a preset voltage threshold, the charging mode is determined to be a constant current charging mode. If the battery voltage is less than the preset voltage threshold, and the second voltage difference between the battery voltage and the preset voltage threshold is less than the preset difference threshold, then the charging mode is determined to be a constant voltage charging mode. If the charging current for the drone is less than a preset current threshold, the charging mode is determined to be either float charging mode or stop charging mode. If the target power is less than the second preset power threshold, the charging mode is determined to be trickle charging mode, wherein the second preset power threshold is less than the first preset power threshold.

7. A charging mode determination device for an energy harvesting and charging system, characterized in that, include: The first adjustment module is used to adjust the number of turns of the winding of the energy harvesting ring based on the conductor current of the conductor held by the energy harvesting ring of the energy harvesting and charging system. The energy harvesting and charging system further includes a variable capacitor array and a rectifier. The second adjustment module is used to perform a first-level adjustment on the energy harvesting and charging system after the number of turns of the winding is adjusted. The first-level adjustment includes the first total capacitance adjustment of the variable capacitor array and the conduction angle adjustment of the rectifier. The conduction angle refers to the electrical angle corresponding to the switching device of the rectifier being in the conducting state. The third adjustment module is used to perform a second-level adjustment on the energy harvesting and charging system after the first-level adjustment is completed. The second-level adjustment includes at least one of the second total capacitance adjustment of the variable capacitor array and the duty cycle adjustment of the rectifier. The duty cycle refers to the ratio between the on-time of the switching device and the total duration of the switching cycle during the switching cycle. The data acquisition module is used to acquire the target power at the output terminal of the rectifier after the second-stage adjustment is completed; The first determining module is used to determine the charging mode of the energy harvesting and charging system when charging the drone, based on the target power.

8. A non-volatile storage medium, characterized in that, The non-volatile storage medium stores multiple instructions, which are adapted to be loaded by a processor and executed by the charging mode determination method of the energy harvesting and charging system according to any one of claims 1 to 6.

9. An electronic device, characterized in that, include: One or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the charging mode determination method of the energy harvesting and charging system according to any one of claims 1 to 6.

10. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the charging mode determination method of the energy harvesting and charging system according to any one of claims 1 to 6.

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